tbp.monty.simulators.tacto

tbp.monty.simulators.tacto.agents

class TactoFingerAgent(agent_id: str, sensor_id: str, position: Tuple[float, float, float] = (0.0, 0.0, 0.0), rotation: Tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0), height: float = 1.5, resolution: Tuple[int, int] = (32, 48), rotation_step: float = 0.0, translation_step: float = 0.0, config: TactoSensorSpec = TactoSensorSpec(name='digit', camera={'cam0': Camera(position=[0, 0, 0.015], orientation=[90, 0, -90], yfov=60, znear=0.001, lightIDList=[0, 1, 2])}, gel=Gel(origin=[0.022, 0, 0.015], width=0.02, height=0.03, curvature=True, curvatureMax=0.005, R=0.1, countW=100, mesh=None), lights=Lights(origin=[0.005, 0, 0.015], polar=True, colors=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], intensities=[1, 1, 1], spot=False, shadow=False, coords=[[0, 0.01732, 0.01], [0, -0.01732, 0.01], [0, 0, -0.02]], xs=[0, 0, 0], rs=[0.02, 0.02, 0.02], thetas=[30, 150, 270]), noise=Noise(mean=0, std=7), force=Force(enable=True, range_force=[0, 100], max_deformation=0.005)))

Bases: HabitatAgent

A simple tacto sensor mounted to the tip of a single finger.

With the following predefined actions:

• “move_forward”: Move finger forward using translation_step

• “move_backward”: Move finger backward using translation_step

• “turn_left”: Turn finger left using rotation_step

• “turn_right”: Turn finger right using rotation_step

agent_id

Unique ID used to identify this agent actions and observations

position

Agent initial position in meters. Default (0, 0, 0)

rotation

Agent initial rotation quaternion. Default (1, 0, 0, 0)

height

Agent height in meters. Default 0.1 (10 cm)

rotation_step

Rotation step in degrees for the “turn” actions

translation_step

Translation step in meters for the “move” actions

config

Tacto sensor configuration (‘OMNITACT’, ‘DIGIT’). Default ‘DIGIT’

__init__(agent_id: str, sensor_id: str, position: Tuple[float, float, float] = (0.0, 0.0, 0.0), rotation: Tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0), height: float = 1.5, resolution: Tuple[int, int] = (32, 48), rotation_step: float = 0.0, translation_step: float = 0.0, config: TactoSensorSpec = TactoSensorSpec(name='digit', camera={'cam0': Camera(position=[0, 0, 0.015], orientation=[90, 0, -90], yfov=60, znear=0.001, lightIDList=[0, 1, 2])}, gel=Gel(origin=[0.022, 0, 0.015], width=0.02, height=0.03, curvature=True, curvatureMax=0.005, R=0.1, countW=100, mesh=None), lights=Lights(origin=[0.005, 0, 0.015], polar=True, colors=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], intensities=[1, 1, 1], spot=False, shadow=False, coords=[[0, 0.01732, 0.01], [0, -0.01732, 0.01], [0, 0, -0.02]], xs=[0, 0, 0], rs=[0.02, 0.02, 0.02], thetas=[30, 150, 270]), noise=Noise(mean=0, std=7), force=Force(enable=True, range_force=[0, 100], max_deformation=0.005)))

get_spec()

Returns a habitat-sim agent configuration.

Returns:

Spec created from this sensor module configuration.

tbp.monty.simulators.tacto.config

Tacto touch sensor configuration.

See also

facebookresearch/tacto

class TactoSensorSpec(name: str, camera: Mapping[str, Camera], gel: Gel, lights: Lights, noise: Noise | None = None, force: Force | None = None) → None

Bases: object

Tacto sensor specifications.

name

Sensor name (‘omnitact’ or ‘digit’)

camera

Camera specifications. One camera for DIGIT, five for OmniTact

gel

Sensor elastomer gel configuration

lights

Sensor LED light configuration

noise

Gausian noise calibration

force

Elastomer force feedback specification

__init__(name: str, camera: Mapping[str, Camera], gel: Gel, lights: Lights, noise: Noise | None = None, force: Force | None = None) → None

classmethod from_yaml(yaml_file)

camera: Mapping[str, Camera]

force: Optional[Force] = None

gel: Gel

lights: Lights

name: str

noise: Optional[Noise] = None

tbp.monty.simulators.tacto.sensors

Tacto touch sensor implementation in habitat-sim.

See also

facebookresearch/tacto

class TactoSensor(sensor_id: str = <factory>, position: ~typing.Tuple[float, float, float] = (0.0, 0.0, 0.0), rotation: ~typing.Tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0), resolution: ~typing.List[float] = <factory>, config: ~tbp.monty.simulators.tacto.config.TactoSensorSpec = TactoSensorSpec(name='digit', camera={'cam0': Camera(position=[0, 0, 0.015], orientation=[90, 0, -90], yfov=60, znear=0.001, lightIDList=[0, 1, 2])}, gel=Gel(origin=[0.022, 0, 0.015], width=0.02, height=0.03, curvature=True, curvatureMax=0.005, R=0.1, countW=100, mesh=None), lights=Lights(origin=[0.005, 0, 0.015], polar=True, colors=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], intensities=[1, 1, 1], spot=False, shadow=False, coords=[[0, 0.01732, 0.01], [0, -0.01732, 0.01], [0, 0, -0.02]], xs=[0, 0, 0], rs=[0.02, 0.02, 0.02], thetas=[30, 150, 270]), noise=Noise(mean=0, std=7), force=Force(enable=True, range_force=[0, 100], max_deformation=0.005))) → None

Bases: SensorConfig

Base class common for all tacto sensors.

Each specific sensor implementation should inherit this class and pass the appropriated configuration file (‘digit’ or ‘omnitact’)

sensor_id

Sensor ID unique within the sensor module. The observations made by this sensor will be prefixed by this id. i.e. “sensor_id.cam0”

resolution

Camera resolution (width, height). Default (32, 48)

position

Sensor position relative to HabitatAgent. Default (0, 0, 0)

rotation

Sensor rotation quaternion. Default (1, 0, 0, 0)

config

Tacto Sensor specification (DIGIT, OMNITACT)

__init__(sensor_id: str = <factory>, position: ~typing.Tuple[float, float, float] = (0.0, 0.0, 0.0), rotation: ~typing.Tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0), resolution: ~typing.List[float] = <factory>, config: ~tbp.monty.simulators.tacto.config.TactoSensorSpec = TactoSensorSpec(name='digit', camera={'cam0': Camera(position=[0, 0, 0.015], orientation=[90, 0, -90], yfov=60, znear=0.001, lightIDList=[0, 1, 2])}, gel=Gel(origin=[0.022, 0, 0.015], width=0.02, height=0.03, curvature=True, curvatureMax=0.005, R=0.1, countW=100, mesh=None), lights=Lights(origin=[0.005, 0, 0.015], polar=True, colors=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], intensities=[1, 1, 1], spot=False, shadow=False, coords=[[0, 0.01732, 0.01], [0, -0.01732, 0.01], [0, 0, -0.02]], xs=[0, 0, 0], rs=[0.02, 0.02, 0.02], thetas=[30, 150, 270]), noise=Noise(mean=0, std=7), force=Force(enable=True, range_force=[0, 100], max_deformation=0.005))) → None

get_specs() → List[habitat_sim.sensor.SensorSpec]

Returns List of Habitat sensor specs to be passed to habitat-sim.

Return type:

List[SensorSpec]

process_observations(sensor_obs)

Callback used to process habitat raw sensor observations.

Parameters:

sensor_obs – Sensor raw habitat-sim observations

Returns:

The processed observations grouped by agent_id

config: TactoSensorSpec = TactoSensorSpec(name='digit', camera={'cam0': Camera(position=[0, 0, 0.015], orientation=[90, 0, -90], yfov=60, znear=0.001, lightIDList=[0, 1, 2])}, gel=Gel(origin=[0.022, 0, 0.015], width=0.02, height=0.03, curvature=True, curvatureMax=0.005, R=0.1, countW=100, mesh=None), lights=Lights(origin=[0.005, 0, 0.015], polar=True, colors=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], intensities=[1, 1, 1], spot=False, shadow=False, coords=[[0, 0.01732, 0.01], [0, -0.01732, 0.01], [0, 0, -0.02]], xs=[0, 0, 0], rs=[0.02, 0.02, 0.02], thetas=[30, 150, 270]), noise=Noise(mean=0, std=7), force=Force(enable=True, range_force=[0, 100], max_deformation=0.005))

resolution: List[float]