lfd.transfer package

Class inheritance diagram

Submodules

lfd.transfer.planning module

lfd.transfer.planning.joint_fit_tps_follow_finger_pts_traj(robot, manip_name, flr2finger_link, flr2finger_rel_pts, flr2finger_pts_traj, old_traj, f, closing_pts=None, no_collision_cost_first=False, use_collision_cost=True, start_fixed=False, joint_vel_limits=None, alpha=1000000.0, beta_pos=1000000.0, gamma=1000.0)

lfd.transfer.planning.joint_fit_tps_follow_finger_pts_trajs(robot, manip_name, flr2finger_link_names, flr2finger_rel_pts, flr2old_finger_pts_trajs, old_traj, f, closing_pts=None, no_collision_cost_first=False, use_collision_cost=True, start_fixed=False, joint_vel_limits=None, alpha=1000000.0, beta_pos=1000000.0, gamma=1000.0)

lfd.transfer.planning.plan_follow_finger_pts_traj(robot, manip_name, flr2finger_link, flr2finger_rel_pts, flr2finger_pts_traj, old_traj, no_collision_cost_first=False, use_collision_cost=True, start_fixed=False, joint_vel_limits=None, beta_pos=1000000.0, gamma=1000.0)

lfd.transfer.planning.plan_follow_finger_pts_trajs(robot, manip_name, flr2finger_link_names, flr2finger_rel_pts, flr2finger_pts_trajs, old_traj, no_collision_cost_first=False, use_collision_cost=True, start_fixed=False, joint_vel_limits=None, beta_pos=1000000.0, gamma=1000.0)

lfd.transfer.planning.plan_follow_traj(robot, manip_name, ee_link, new_hmats, old_traj, no_collision_cost_first=False, use_collision_cost=True, start_fixed=False, joint_vel_limits=None, beta_pos=1000000.0, beta_rot=100.0, gamma=1000.0)

lfd.transfer.planning.plan_follow_trajs(robot, manip_name, ee_link_names, ee_trajs, old_traj, no_collision_cost_first=False, use_collision_cost=True, start_fixed=False, joint_vel_limits=None, beta_pos=1000000.0, beta_rot=100.0, gamma=1000.0)

lfd.transfer.registration_transfer module

class lfd.transfer.registration_transfer.RegistrationAndTrajectoryTransferer(registration_factory, trajectory_transferer)

Bases: object

transfer(demo, test_scene_state, callback=None, plotting=False)

Registers demonstration scene onto the test scene and uses this registration to transfer the demonstration trajectory

Parameters:

• demo – Demonstration that has the demonstration scene and the trajectory to transfer
• test_scene_state – SceneState of the test scene

Returns:

The transferred Trajectory

class lfd.transfer.registration_transfer.TwoStepRegistrationAndTrajectoryTransferer(registration_factory, trajectory_transferer)

Bases: lfd.transfer.registration_transfer.RegistrationAndTrajectoryTransferer

transfer(demo, test_scene_state, callback=None, plotting=False)

class lfd.transfer.registration_transfer.UnifiedRegistrationAndTrajectoryTransferer(registration_factory, trajectory_transferer, alpha=1000000.0, beta_pos=1000000.0, gamma=1000.0, use_collision_cost=True, init_trajectory_transferer=None)

Bases: lfd.transfer.registration_transfer.RegistrationAndTrajectoryTransferer

transfer(demo, test_scene_state, callback=None, plotting=False)

lfd.transfer.settings module

lfd.transfer.settings.ALPHA = 1000000.0

TPS objective coefficient in unified trajectory optimization

lfd.transfer.settings.BETA_POS = 1000000.0

pose position or finger position objective coefficient in trajectory optimization

lfd.transfer.settings.BETA_ROT = 100.0

pose rotation objective coefficient in trajectory optimization

lfd.transfer.settings.FINGER_CLOSE_RATE = 0.1

lfd.transfer.settings.GAMMA = 1000.0

joint velocity objective coefficient in trajectory optimization

lfd.transfer.settings.JOINT_LENGTH_PER_STEP = 0.1

lfd.transfer.settings.USE_COLLISION_COST = True

whether to use collision cost in trajectory optimization

lfd.transfer.transfer module

class lfd.transfer.transfer.FingerTrajectoryTransferer(sim, beta_pos=1000000.0, gamma=1000.0, use_collision_cost=True, init_trajectory_transferer=None)

Bases: lfd.transfer.transfer.TrajectoryTransferer

transfer(reg, demo, plotting=False)

class lfd.transfer.transfer.PoseTrajectoryTransferer(sim, beta_pos=1000000.0, beta_rot=100.0, gamma=1000.0, use_collision_cost=True, init_trajectory_transferer=None)

Bases: lfd.transfer.transfer.TrajectoryTransferer

transfer(reg, demo, plotting=False)

class lfd.transfer.transfer.TrajectoryTransferer(sim, beta_pos=1000000.0, gamma=1000.0, use_collision_cost=True, init_trajectory_transferer=None)

Bases: object

transfer(reg, demo, plotting=False)

Transfers demonstration trajectory using the given registration

Parameters:

• reg – Registration of the demonstration scene onto the test scene
• demo – Demonstration that has the trajectory to transfer
• plotting – if True, visualization is plotted. The color convention is as follows: Red: demonstration Yellow: resampled demonstration Green: transformed resampled demonstration Blue: test

Returns:

The transferred AugmentedTrajectory