# -*- coding: utf-8 -*-
"""
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"""
"""
Configurations for grasp quality computation.
Author: Jeff Mahler
"""
from abc import ABCMeta, abstractmethod
import copy
import itertools as it
import logging
import matplotlib.pyplot as plt
try:
import mayavi.mlab as mlab
except:
# logging.warning('Failed to import mayavi')
pass
import numpy as np
import os
import sys
import time
import IPython
# class GraspQualityConfig(object, metaclass=ABCMeta):
[docs]class GraspQualityConfig(object):
"""
Base wrapper class for parameters used in grasp quality computation.
Used to elegantly enforce existence and type of required parameters.
Attributes
----------
config : :obj:`dict`
dictionary mapping parameter names to parameter values
"""
__metaclass__ = ABCMeta
def __init__(self, config):
# check valid config
self.check_valid(config)
# parse config
for key, value in list(config.items()):
setattr(self, key, value)
[docs] def contains(self, key):
""" Checks whether or not the key is supported """
if key in list(self.__dict__.keys()):
return True
return False
def __getattr__(self, key):
if self.contains(key):
return object.__getattribute__(self, key)
return None
def __getitem__(self, key):
if self.contains(key):
return object.__getattribute__(self, key)
raise KeyError('Key %s not found' %(key))
[docs] def keys(self):
return list(self.__dict__.keys())
[docs] @abstractmethod
def check_valid(self, config):
""" Raise an exception if the config is missing required keys """
pass
[docs]class QuasiStaticGraspQualityConfig(GraspQualityConfig):
"""
Parameters for quasi-static grasp quality computation.
Attributes
----------
config : :obj:`dict`
dictionary mapping parameter names to parameter values
Notes
-----
Required configuration key-value pairs in Other Parameters.
Other Parameters
----------------
quality_method : :obj:`str`
string name of quasi-static quality metric
friction_coef : float
coefficient of friction at contact point
num_cone_faces : int
number of faces to use in friction cone approximation
soft_fingers : bool
whether to use a soft finger model
quality_type : :obj:`str`
string name of grasp quality type (e.g. quasi-static, robust quasi-static)
check_approach : bool
whether or not to check the approach direction
"""
REQUIRED_KEYS = ['quality_method',
'friction_coef',
'num_cone_faces',
'soft_fingers',
'quality_type',
'check_approach',
'all_contacts_required']
def __init__(self, config):
GraspQualityConfig.__init__(self, config)
def __copy__(self):
""" Makes a copy of the config """
obj_copy = QuasiStaticGraspQualityConfig(self.__dict__)
return obj_copy
[docs] def check_valid(self, config):
for key in QuasiStaticGraspQualityConfig.REQUIRED_KEYS:
if key not in list(config.keys()):
raise ValueError('Invalid configuration. Key %s must be specified' %(key))
[docs]class RobustQuasiStaticGraspQualityConfig(GraspQualityConfig):
"""
Parameters for quasi-static grasp quality computation.
Attributes
----------
config : :obj:`dict`
dictionary mapping parameter names to parameter values
Notes
-----
Required configuration key-value pairs in Other Parameters.
Other Parameters
----------------
quality_method : :obj:`str`
string name of quasi-static quality metric
friction_coef : float
coefficient of friction at contact point
num_cone_faces : int
number of faces to use in friction cone approximation
soft_fingers : bool
whether to use a soft finger model
quality_type : :obj:`str`
string name of grasp quality type (e.g. quasi-static, robust quasi-static)
check_approach : bool
whether or not to check the approach direction
num_quality_samples : int
number of samples to use
"""
ROBUST_REQUIRED_KEYS = ['num_quality_samples']
def __init__(self, config):
GraspQualityConfig.__init__(self, config)
def __copy__(self):
""" Makes a copy of the config """
obj_copy = RobustQuasiStaticGraspQualityConfig(self.__dict__)
return obj_copy
[docs] def check_valid(self, config):
required_keys = QuasiStaticGraspQualityConfig.REQUIRED_KEYS + \
RobustQuasiStaticGraspQualityConfig.ROBUST_REQUIRED_KEYS
for key in required_keys:
if key not in list(config.keys()):
raise ValueError('Invalid configuration. Key %s must be specified' %(key))
[docs]class GraspQualityConfigFactory:
""" Helper class to automatically create grasp quality configurations of different types. """
[docs] @staticmethod
def create_config(config):
""" Automatically create a quality config from a dictionary.
Parameters
----------
config : :obj:`dict`
dictionary mapping parameter names to parameter values
"""
if config['quality_type'] == 'quasi_static':
return QuasiStaticGraspQualityConfig(config)
elif config['quality_type'] == 'robust_quasi_static':
return RobustQuasiStaticGraspQualityConfig(config)
else:
raise ValueError('Quality config type %s not supported' %(config['type']))