Orchard¶
The orchard is a collection of rows with plants. Each plant has clusters and flowers. Each class represents a way to procedurally generate the next. Flowers have carry a pollination.` object for defining how they are pollinated.
This module contains the base class for modelling and sampling flowers
- class irl_gym.support.stickbug.flowers.Flower(position=None, id=None, orientation=None, covariance=None, max_observations=10, obs_update=True, pollination_params={})¶
Bases:
object- get_id()¶
Get the id of the flower
- Returns:
(int) Unique identifier for the flower
- get_pose()¶
Get the pose of the flower
- Returns:
(list) [x,y,z] position of the flower in global
- pollinate(pollinator_position)¶
Pollinate the flowers in the environment
- Parameters:
pollinator_position – (list) [x,y,z,yaw,pitch] position and orientation of the hand in global
- sample()¶
Sample the flower pose
- update_estimate(observation)¶
Update the estimate of the flower pose
- Parameters:
observation – (list) Observation of the flower