Action-Observation Flow#

wrapper Hierarchy#

Vertical Order:

  • Top: Highest-level wrapper (first applied)

  • Bottom: Base environment

Inheritance Notation:

  • Use (ParentClass) next to wrapper names

Wrapping Notation

  • Show ← wraps arrows between layers Here is a class hierarchy diagram:

../_images/class_hierarchy.png

Flow#

  1. RelativeActionSpace(ActionWrapper).step(act)

    • 2- Calls step function of ActionWrapper (→2)

  2. ActionWrapper.step(act)

      1. Calls RelativeActionSpace.action(act)

      1. Calls GripperWrapper.step(act)

  3. RelativeActionSpace.action(act)

    • Processes action: {"tquart": [0.01, 0, 0, 0, 0, 0, 1], "gripper": 0}

    • Operations:

      • Clips action within min/max limits

      • Makes action relative (current_pose + action)

      • Updates action["tquart"]

  4. GripperWrapper(ActObsInfoWrapper).step(act)

    • →5. Calls GripperWrapper.action(act)

    • →6. Calls CameraSetWrapper.step(act)

    • →15. Calls GripperWrapper.observation(obs)

  5. GripperWrapper.action(act)

    • Uses act["gripper"] to open/close gripper

    • Only executes if state change needed

    • Deletes "gripper" key from action dict

  6. CameraSetWrapper(ActObsInfoWrapper).step(act)

    • →7. Calls CameraSetWrapper.action(act)

    • →8. Calls CameraSetWrapper(ActObsInfoWrapper).step(act)

    • →14. Calls CameraSetWrapper.observation(obs)

  7. CameraSetWrapper.action(act)

    • (Pass-through) Returns original action

  8. CameraSetWrapper(ActObsInfoWrapper).step(act)

    • →9. Calls CameraSetWrapper.action(act)

    • →10. Calls FR3Sim.step(act)

  9. CameraSetWrapper.action(act)

    • (Pass-through) Returns original action

  10. FR3Sim.step(act)

    • →11. Calls FR3Env.step(act)

      1. Executes:

      self.sim.step_until_convergence()
state = self.sim_robot.get_state()

    • Returns observation

  11. FR3Env.step(act)

    • Sets new pose:

      self.robot.set_cartesian_position(
    common.Pose(
        translation=action_dict[self.tquart_key][:3],
        quaternion=action_dict[self.tquart_key][3:]
    )
)

    • →12. Calls FR3Env.get_obs()

  12. FR3Env.get_obs()

    • Returns:

      (
    tquart=np.concatenate([
        self.robot.get_cartesian_position().translation(),
        self.robot.get_cartesian_position().rotation_q()
    ]),
    joints=self.robot.get_joint_position(),
    xyzrpy=self.robot.get_cartesian_position().xyzrpy()
)

    • Shapes:

      • joints: (7,)

      • tquart: (7,) [x,y,z, qx,qy,qz,qw]

      • xyzrpy: (6,) [x,y,z, roll,pitch,yaw]

  13. CameraSetWrapper.observation(obs)

    • Adds camera data:

      {
    ...original_obs...,
    "frames": {
        "wrist": {
            "rgb": (256,256,3),
            "depth": (256,256,3)
        },
        "default_free": {
            "wrist": {
                "rgb": (256,256,3),
                "depth": (256,256,3)
            }
        }
    }
}

  14. GripperWrapper.observation(obs)

    • Adds gripper state:

      {
    ...previous_data...,
    "gripper": float
}

Sequence Diagram#

image