lfd.environment package

Class inheritance diagram

Submodules

lfd.environment.environment module

class lfd.environment.environment.GroundTruthRopeLfdEnvironment(world, sim, upsample=0, upsample_rad=1, downsample_size=0)

Bases: lfd.environment.environment.LfdEnvironment

observe_scene()

class lfd.environment.environment.LfdEnvironment(world, sim, downsample_size=0)

Bases: object

execute_augmented_trajectory(aug_traj, step_viewer=1, interactive=False, sim_callback=None, check_feasible=False)

observe_scene()

lfd.environment.robot_world module

class lfd.environment.robot_world.RealRobotWorld

Bases: lfd.environment.robot_world.RobotWorld

close_gripper()

execute_trajectory()

observe_cloud()

open_gripper()

class lfd.environment.robot_world.RobotWorld

Bases: object

close_gripper()

execute_trajectory()

observe_cloud()

open_gripper()

lfd.environment.settings module

lfd.environment.settings.CAMERA_MATRIX = [[0, 1, 0, 0], [-1, 0, 0.5, 0], [0.5, 0, 1, 0], [2.25, 0, 4.5, 1]]

transposed homogeneous matrix for the viewer’s camera

lfd.environment.settings.GRIPPER_OPEN_CLOSE_THRESH = 0.04

lfd.environment.settings.ROPE_ANG_DAMPING = 1

lfd.environment.settings.ROPE_ANG_LIMIT = 0.4

lfd.environment.settings.ROPE_ANG_STIFFNESS = 0.1

lfd.environment.settings.ROPE_LIN_DAMPING = 0.75

lfd.environment.settings.ROPE_LIN_STOP_ERP = 0.2

lfd.environment.settings.ROPE_MASS = 1.0

lfd.environment.settings.ROPE_RADIUS = 0.005

lfd.environment.settings.ROPE_RADIUS_THICK = 0.008

lfd.environment.settings.WINDOW_PROP = [0, 0, 1500, 1500]

window properties for the viewer’s window

lfd.environment.sim_util module

class lfd.environment.sim_util.RopeParams

Bases: object

class lfd.environment.sim_util.RopeState(init_rope_nodes, rope_params, tfs=None)

Bases: object

class lfd.environment.sim_util.SceneState(cloud, rope_nodes, rope_state, id=None, color=None)

Bases: object

static get_unique_id()

ids = set([])

lfd.environment.sim_util.arm_moved(joint_traj)

lfd.environment.sim_util.binarize_gripper(angle)

lfd.environment.sim_util.dof_inds_from_name(robot, name)

lfd.environment.sim_util.draw_axis(sim_env, hmat, arrow_length=0.1, arrow_width=0.005)

lfd.environment.sim_util.draw_finger_pts_traj(sim_env, flr2finger_pts_traj, color)

lfd.environment.sim_util.draw_grid(sim_env, old_xyz, f, color=(1, 1, 0, 1))

lfd.environment.sim_util.get_binary_gripper_angle(open)

lfd.environment.sim_util.get_ee_traj(robot, lr, arm_traj_or_full_traj, ee_link_name_fmt='%s_gripper_tool_frame')

lfd.environment.sim_util.get_finger_pts_traj(robot, lr, full_traj_or_ee_finger_traj)

ee_traj = sim_util.get_ee_traj(robot, lr, arm_traj) flr2finger_pts_traj1 = get_finger_pts_traj(robot, lr, (ee_traj, finger_traj))

full_traj = sim_util.get_full_traj(robot, {lr:arm_traj}, {lr:finger_traj}) flr2finger_pts_traj2 = get_finger_pts_traj(robot, lr, full_traj)

lfd.environment.sim_util.get_finger_rel_pts(finger_lr)

lfd.environment.sim_util.get_full_traj(robot, lr2arm_traj, lr2finger_traj={})

A full trajectory is a tuple of a trajectory (np matrix) and dof indices (list)

lfd.environment.sim_util.get_opening_closing_inds(finger_traj)

lfd.environment.sim_util.get_rope_params(params_id)

lfd.environment.sim_util.get_rope_transforms(sim_env)

lfd.environment.sim_util.gripper_joint2gripper_l_finger_joint_values(gripper_joint_vals)

Only the %s_gripper_l_finger_joint%lr can be controlled (this is the joint returned by robot.GetManipulator({“l”:”leftarm”, “r”:”rightarm”}[lr]).GetGripperIndices()) The rest of the gripper joints (like %s_gripper_joint%lr) are mimiced and cannot be controlled directly

lfd.environment.sim_util.grippers_exceed_rope_length(sim_env, full_traj, thresh)

Let min_length be the minimun length of the rope between the parts being held by the left and right gripper. This function returns a mask of the trajectory steps in which the distance between the grippers doesn’t exceed min_length-thresh. If not both of the grippers are holding the rope, this function return None.

lfd.environment.sim_util.load_fake_data_segment(demofile, fake_data_segment, fake_data_transform)

lfd.environment.sim_util.load_random_start_segment(demofile)

lfd.environment.sim_util.make_box_xml(name, translation, extents)

lfd.environment.sim_util.make_cylinder_xml(name, translation, radius, height)

lfd.environment.sim_util.make_table_xml(translation, extents)

lfd.environment.sim_util.merge_full_trajs(full_trajs)

lfd.environment.sim_util.mirror_arm_joints(x)

mirror image of joints (r->l or l->r)

lfd.environment.sim_util.remove_tight_rope_pull(sim_env, full_traj)

lfd.environment.sim_util.replace_rope(new_rope, sim_env, rope_params, restore=False)

restore indicates if this function is being called to restore an existing rope, in which case the color of the rope is saved and restored

lfd.environment.sim_util.reset_arms_to_side(sim_env)

lfd.environment.sim_util.set_gripper_maybesim(sim_env, lr, is_open, prev_is_open, animate=False)

lfd.environment.sim_util.set_rope_transforms(tfs, sim_env)

lfd.environment.sim_util.sim_full_traj_maybesim(sim_env, full_traj, animate=False, interactive=False, max_cart_vel_trans_traj=0.05)

lfd.environment.sim_util.sim_traj_maybesim(sim_env, lr2traj, animate=False, interactive=False, max_cart_vel_trans_traj=0.05)

lfd.environment.sim_util.split_trajectory_by_gripper(seg_info)

lfd.environment.sim_util.split_trajectory_by_lr_gripper(seg_info, lr)

lfd.environment.sim_util.tpsrpm_plot_cb(sim_env, x_nd, y_md, targ_Nd, corr_nm, wt_n, f)

lfd.environment.sim_util.unif_resample(traj, max_diff, wt=None)

Resample a trajectory so steps have same length in joint space

lfd.environment.sim_util.unwrap_arm_traj_in_place(traj)

lfd.environment.sim_util.unwrap_in_place(t, dof_inds=None)

lfd.environment.simulation module

class lfd.environment.simulation.DynamicRopeSimulationRobotWorld(env=None, T_w_k=None, range_k=2.0)

Bases: lfd.environment.simulation.DynamicSimulationRobotWorld

close_gripper(lr, step_viewer=1, max_vel=0.02, close_dist_thresh=0.004, grab_dist_thresh=0.005)

in_grasp_region(robot, lr, pt)

release_rope(lr)

class lfd.environment.simulation.DynamicSimulation(env=None)

Bases: lfd.environment.simulation.StaticSimulation

add_objects(sim_objs)

get_translations()

return translation part of all links of all dynamic objects

remove_objects(sim_objs)

set_state(sim_state)

Defined such that execution1 and execution2 gives the same results if execution1 == execution2 in the following code:

set_state(sim_state) execution1() set_state(sim_state) execution2()

settle(max_steps=100, tol=0.001, step_viewer=1)

Keep stepping until the dynamic objects doesn’t move, up to some tolerance

step()

update()

class lfd.environment.simulation.DynamicSimulationRobotWorld(env=None, T_w_k=None, range_k=2.0)

Bases: lfd.environment.simulation.DynamicSimulation, lfd.environment.robot_world.RobotWorld

close_gripper(lr, step_viewer=1, max_vel=0.02, close_dist_thresh=0.004, grab_dist_thresh=0.005)

execute_trajectory(full_traj, step_viewer=1, interactive=False, max_cart_vel_trans_traj=0.05, sim_callback=None)

observe_cloud()

open_gripper(lr, target_val=None, step_viewer=1, max_vel=0.02)

class lfd.environment.simulation.StaticSimulation(env=None)

Bases: object

add_objects(objs_to_add, consider_finger_collisions=True)

create_viewer(window_prop=None, camera_matrix=None)

get_state()

remove_objects(objs_to_remove, consider_finger_collisions=True)

set_state(sim_state)

static simulation_state_equal(s0, s1)

viewer

lfd.environment.simulation_object module

class lfd.environment.simulation_object.BoxSimulationObject(name, translation, extents, dynamic=True)

Bases: lfd.environment.simulation_object.XmlSimulationObject

class lfd.environment.simulation_object.CylinderSimulationObject(name, translation, radius, height, dynamic=True)

Bases: lfd.environment.simulation_object.XmlSimulationObject

class lfd.environment.simulation_object.RopeSimulationObject(name, ctrl_points, rope_params=None, dynamic=True, upsample=0, upsample_rad=1)

Bases: lfd.environment.simulation_object.SimulationObject

add_after = True

add_to_env(sim)

get_bullet_objects()

get_state()

remove_from_env()

set_state(tfs)

class lfd.environment.simulation_object.SimulationObject(names, dynamic=True)

Bases: object

add_after = False

add_to_env(sim)

get_bullet_objects()

get_state()

remove_from_env()

set_state(tfs)

class lfd.environment.simulation_object.XmlSimulationObject(xml, dynamic=False)

Bases: lfd.environment.simulation_object.SimulationObject

add_to_env(sim)

remove_from_env()