API Documentation¶
This is the detailed documentation of all public classes and functions. You can also search for specific modules, classes, or functions in the Index.
movement_primitives.dmp
¶
Dynamical Movement Primitive (DMP)¶
This module provides implementations of various DMP types. DMPs consist of a goal-directed movement generated by the transformation system and a forcing term that defines the shape of the trajectory. They are time-dependent and usually converge to the goal after a constant execution time.
Every implementation is slightly different, but we use a similar notation for all of them:
\(y,\dot{y},\ddot{y}\) - position, velocity, and acceleration; these might be translation components only, orientation, or both
\(y_0\) - start position
\(g\) - goal of the movement (attractor of the DMP)
\(\tau\) - execution time
\(z\) - phase variable, starts at 1 and converges to 0
\(f(z)\) - forcing term, learned component that defines the shape of the movement
\(C_t\) - coupling term that is added to the acceleration of the DMP
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Dynamical movement primitive (DMP). |
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Dynamical movement primitive (DMP) with final velocity. |
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Cartesian dynamical movement primitive. |
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Dual cartesian dynamical movement primitive. |
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Base class of Dynamical Movement Primitives (DMPs). |
Mixin class providing common access methods to forcing term weights. |
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Couples position components of a 2D DMP with a virtual spring. |
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Coupling term for obstacle avoidance in 2D. |
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Coupling term for obstacle avoidance in 3D. |
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Couples position components of a 6D DMP with a virtual spring in 3D. |
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Couples relative poses of dual Cartesian DMP. |
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Coupling term for obstacle avoidance in 3D. |
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Couples distance between 3D positions of a dual Cartesian DMP. |
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Couples relative pose in dual Cartesian DMP with a given trajectory. |
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Compute acceleration generated by transformation system of DMP. |
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Compute parameter alpha of canonical system. |
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Map time to phase. |
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Compute acceleration for obstacle avoidance in 2D. |
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Compute acceleration for obstacle avoidance in 3D. |
movement_primitives.promp
¶
Probabilistic Movement Primitive (ProMP)¶
ProMPs represent distributions of trajectories.
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Probabilistic Movement Primitive (ProMP). |
movement_primitives.io
¶
Input / Output¶
Input and output from and to files of movement primitives.
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Write object to pickle format. |
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Read object from pickle format. |
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Write object to YAML format. |
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Read object from YAML format. |
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Write object to JSON format. |
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Read object from JSON format. |
movement_primitives.base
¶
Base Classes¶
Base classes of movement primitives.
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Base class for point to point movements (discrete motions). |
movement_primitives.data
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Data¶
Tools for loading datasets.
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Load demonstrations from LASA dataset. |
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Create a minimum jerk trajectory. |
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Generates toy data for testing and demonstration. |
movement_primitives.kinematics
¶
Kinematics¶
Forward kinematics and a simple implementation of inverse kinematics.
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Robot kinematics. |
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Kinematic chain. |
movement_primitives.plot
¶
Plotting Tools¶
Tools for plotting multi-dimensional trajectories.
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Plot trajectories of N dimensions in N 2D subplots. |
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Plot distribution of N dimensions in N 2D subplots. |
movement_primitives.visualization
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Visualization Tools¶
3D visualization tools for movement primitives.
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Plot point cloud. |
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Compute error ellipsoid. |
movement_primitives.dmp_potential_field
¶
Potential Field of DMP¶
Visualization of DMP as potential field.
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Plot 2D potential field of a DMP. |
movement_primitives.spring_damper
¶
Spring-Damper Based Attractors¶
Spring-damper based attractors are the basis of a DMP’s transformation system.
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Spring-damper system. |
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Spring-damper system for quaternions. |