Config for R6dLffPoseEncoder.
| Name | Description |
|---|---|
| kind | Discriminator for pose-encoder selection. |
| pose_encoder_lff | LFF encoder for [t, r6d] pose vectors (input_dim=9). |
| pose_scale_init | Initial per-group scale for translation and rotation (t, r6d). |
| pose_scale_learnable | Whether pose scaling parameters are learned. |
| pose_scale_eps | Numerical epsilon for pose scaling. |
# R6dLffPoseEncoderConfig { #aria_nbv.vin.pose_encoders.R6dLffPoseEncoderConfig }
```python
vin.pose_encoders.R6dLffPoseEncoderConfig()
```
Config for `R6dLffPoseEncoder`.
## Attributes
| Name | Description |
| --- | --- |
| [kind](#aria_nbv.vin.pose_encoders.R6dLffPoseEncoderConfig.kind) | Discriminator for pose-encoder selection. |
| [pose_encoder_lff](#aria_nbv.vin.pose_encoders.R6dLffPoseEncoderConfig.pose_encoder_lff) | LFF encoder for ``[t, r6d]`` pose vectors (input_dim=9). |
| [pose_scale_init](#aria_nbv.vin.pose_encoders.R6dLffPoseEncoderConfig.pose_scale_init) | Initial per-group scale for translation and rotation (t, r6d). |
| [pose_scale_learnable](#aria_nbv.vin.pose_encoders.R6dLffPoseEncoderConfig.pose_scale_learnable) | Whether pose scaling parameters are learned. |
| [pose_scale_eps](#aria_nbv.vin.pose_encoders.R6dLffPoseEncoderConfig.pose_scale_eps) | Numerical epsilon for pose scaling. |