mani_skill.trajectory.utils.actions.conversion

Utilities to convert actions between different control modes. Note that this code is specifically designed for the Franka Panda robot arm, it is not guaranteed to work for other robots.

Functions

compact_axis_angle_from_quaternion(quat)
delta_pose_to_pd_ee_delta(controller, delta_pose[, ...])	Given a delta pose, convert it to a PDEEPose/PDEEPos Controller action
from_pd_joint_delta_pos(output_mode, ori_actions, ...)
from_pd_joint_pos(output_mode, ori_actions, ori_env, env)
from_pd_joint_pos_to_ee(output_mode, ori_actions, ...)
qpos_to_pd_joint_delta_pos(controller, qpos)
qpos_to_pd_joint_target_delta_pos(controller, qpos)
qpos_to_pd_joint_vel(controller, qpos)

Module Contents

mani_skill.trajectory.utils.actions.conversion.compact_axis_angle_from_quaternion(quat)

Parameters:

quat (numpy.ndarray) –

Return type:

numpy.ndarray

mani_skill.trajectory.utils.actions.conversion.delta_pose_to_pd_ee_delta(controller, delta_pose, pos_only=False)

Given a delta pose, convert it to a PDEEPose/PDEEPos Controller action

Parameters:

• controller (Union[mani_skill.agents.controllers.PDEEPoseController, mani_skill.agents.controllers.PDEEPosController]) –

• delta_pose (sapien.Pose) –

mani_skill.trajectory.utils.actions.conversion.from_pd_joint_delta_pos(output_mode, ori_actions, ori_env, env, render=False, pbar=None, verbose=False)

Parameters:

• ori_env (mani_skill.envs.sapien_env.BaseEnv) –

• env (mani_skill.envs.sapien_env.BaseEnv) –

mani_skill.trajectory.utils.actions.conversion.from_pd_joint_pos(output_mode, ori_actions, ori_env, env, render=False, pbar=None, verbose=False)

Parameters:

• ori_env (mani_skill.envs.sapien_env.BaseEnv) –

• env (mani_skill.envs.sapien_env.BaseEnv) –

mani_skill.trajectory.utils.actions.conversion.from_pd_joint_pos_to_ee(output_mode, ori_actions, ori_env, env, render=False, pbar=None, verbose=False)

Parameters:

• output_mode (str) –

• ori_env (mani_skill.envs.sapien_env.BaseEnv) –

• env (mani_skill.envs.sapien_env.BaseEnv) –

mani_skill.trajectory.utils.actions.conversion.qpos_to_pd_joint_delta_pos(controller, qpos)

Parameters:

controller (mani_skill.agents.controllers.PDJointPosController) –

mani_skill.trajectory.utils.actions.conversion.qpos_to_pd_joint_target_delta_pos(controller, qpos)

Parameters:

controller (mani_skill.agents.controllers.PDJointPosController) –

mani_skill.trajectory.utils.actions.conversion.qpos_to_pd_joint_vel(controller, qpos)

Parameters:

controller (mani_skill.agents.controllers.PDJointVelController) –