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simplify actions + add signatures for link actions

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This commit is contained in:
Brian Delhaisse
2019-06-18 00:59:34 +02:00
parent 28c3b7e187
commit 8450fc731d
5 changed files with 82 additions and 44 deletions
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pyrobolearn/actions/action.py
+7 -1
View File
@@ -441,7 +441,7 @@ class Action(object):
append = add
extend = add
def _write(self, data=None):
def _write(self, data):
pass
def write(self, data=None):
@@ -453,10 +453,16 @@ class Action(object):
if self.cnt % self.ticks == 0:
if self.has_data(): # write the current action
if data is None:
data = self._data
self._write(data)
else: # read each action
if self.actions:
if data is None:
data = [None] * len(self.actions)
for action, d in zip(self.actions, data):
if d is None:
d = action._data
action._write(d)
self.cnt += 1
pyrobolearn/actions/basic_actions.py
+1 -4
View File
@@ -28,9 +28,6 @@ class FixedAction(Action):
def __init__(self, value):
super(FixedAction, self).__init__(data=value)
def _write(self, data=None):
pass
def __copy__(self):
"""Return a shallow copy of the action. This can be overridden in the child class."""
return self.__class__(value=self._data)
@@ -59,7 +56,7 @@ class FunctionalAction(Action):
self.function = function
super(FunctionalAction, self).__init__(data=initial_data)
def _write(self, data=None):
def _write(self, data):
self.data = self.function(data)
def __copy__(self):
pyrobolearn/actions/gym_actions.py
-3
View File
@@ -46,9 +46,6 @@ class GymAction(Action):
# call super constructor
super(GymAction, self).__init__(data=data, space=space)
def _write(self, data=None):
pass
def __copy__(self):
"""Return a shallow copy of the action. This can be overridden in the child class."""
return self.__class__(gym_env=self.env)
pyrobolearn/actions/robot_actions/joint_actions.py
+19 -29
View File
@@ -48,6 +48,7 @@ class JointAction(RobotAction):
# return len(self.joints)
def bounds(self):
"""Return the joint limits."""
return self.robot.get_joint_limits(self.joints)
def __copy__(self):
@@ -80,11 +81,9 @@ class JointPositionAction(JointAction):
super(JointPositionAction, self).__init__(robot, joint_ids)
self.data = robot.get_joint_positions(self.joints)
def _write(self, data=None):
if data is None:
self.robot.set_joint_positions(self._data, self.joints, kp=self.kp, kd=self.kd, forces=self.max_force)
else:
self.robot.set_joint_positions(data, self.joints, kp=self.kp, kd=self.kd, forces=self.max_force)
def _write(self, data):
"""apply the action data on the robot."""
self.robot.set_joint_positions(data, self.joints, kp=self.kp, kd=self.kd, forces=self.max_force)
def __copy__(self):
"""Return a shallow copy of the action. This can be overridden in the child class."""
@@ -118,11 +117,9 @@ class JointVelocityAction(JointAction):
super(JointVelocityAction, self).__init__(robot, joint_ids)
self.data = robot.get_joint_velocities(self.joints)
def _write(self, data=None):
if data is None:
self.robot.set_joint_velocities(self._data, self.joints)
else:
self.robot.set_joint_velocities(data, self.joints)
def _write(self, data):
"""apply the action data on the robot."""
self.robot.set_joint_velocities(data, self.joints)
class JointPositionAndVelocityAction(JointAction):
@@ -139,13 +136,10 @@ class JointPositionAndVelocityAction(JointAction):
self.data = np.concatenate((pos, vel))
self.idx = len(pos)
def _write(self, data=None):
if data is None:
self.robot.set_joint_positions(self._data[:self.idx], self.joints, kp=self.kp, kd=self.kd,
velocities=self._data[self.idx:], forces=self.max_force)
else:
self.robot.set_joint_positions(data[:self.idx], self.joints, kp=self.kp, kd=self.kd,
velocities=data[self.idx:], forces=self.max_force)
def _write(self, data):
"""apply the action data on the robot."""
self.robot.set_joint_positions(data[:self.idx], self.joints, kp=self.kp, kd=self.kd,
velocities=data[self.idx:], forces=self.max_force)
def __copy__(self):
"""Return a shallow copy of the action. This can be overridden in the child class."""
@@ -190,12 +184,10 @@ class JointForceAction(JointAction):
self.f_min = f_min
self.f_max = f_max
def _write(self, data=None):
if data is None:
self.robot.set_joint_torques(self._data, self.joints)
else:
data = np.clip(data, self.f_min, self.f_max)
self.robot.set_joint_torques(data, self.joints)
def _write(self, data):
"""apply the action data on the robot."""
data = np.clip(data, self.f_min, self.f_max)
self.robot.set_joint_torques(data, self.joints)
def __copy__(self):
"""Return a shallow copy of the action. This can be overridden in the child class."""
@@ -232,12 +224,10 @@ class JointAccelerationAction(JointAction):
self.a_min = a_min
self.a_max = a_max
def _write(self, data=None):
if data is None:
self.robot.set_joint_accelerations(self._data, self.joints)
else:
data = np.clip(data, self.a_min, self.a_max)
self.robot.set_joint_accelerations(data, self.joints)
def _write(self, data):
"""apply the action data on the robot."""
data = np.clip(data, self.a_min, self.a_max)
self.robot.set_joint_accelerations(data, self.joints)
def __copy__(self):
"""Return a shallow copy of the action. This can be overridden in the child class."""
pyrobolearn/actions/robot_actions/link_actions.py
+55 -7
View File
@@ -27,7 +27,7 @@ class LinkAction(RobotAction):
def __init__(self, robot, link_ids=None):
"""
Initialize the joint action.
Initialize the link action.
Args:
robot (Robot): robot instance
@@ -62,17 +62,65 @@ class LinkAction(RobotAction):
class LinkPositionAction(LinkAction):
r"""Link position action
Set the link position(s) using IK.
Set the position using IK for the specified robot link(s).
"""
def __init__(self, robot, link_ids=None):
"""
Initialize the link position action.
Args:
robot (Robot): robot instance
link_ids (int, int[N]): link id or list of link ids
"""
super(LinkPositionAction, self).__init__(robot, link_ids)
def _write(self, data=None):
if data is None:
self.robot.set_link_positions(self.links, self._data)
else:
self.robot.set_link_positions(self.links, data)
def _write(self, data):
"""apply the action data on the robot."""
self.robot.set_link_positions(self.links, data)
class LinkVelocityAction(LinkAction):
r"""Link velocity action
Set the cartesian velocity(ies) for the specified robot link(s).
"""
def __init__(self, robot, link_ids=None):
"""
Initialize the link position action.
Args:
robot (Robot): robot instance
link_ids (int, int[N]): link id or list of link ids
"""
super(LinkVelocityAction, self).__init__(robot, link_ids)
def _write(self, data):
"""apply the action data on the robot."""
# self.robot
pass
class LinkForceAction(LinkAction):
r"""Link force action
Set the cartesian force(s) for the specified robot link(s).
"""
def __init__(self, robot, link_ids=None):
"""
Initialize the link position action.
Args:
robot (Robot): robot instance
link_ids (int, int[N]): link id or list of link ids
"""
super(LinkForceAction, self).__init__(robot, link_ids)
def _write(self, data):
"""apply the action data on the robot."""
# self.robot
pass
########################