Stickbug Robot¶

Base¶

This module contains the model for Stickbug base

class irl_gym.support.stickbug.sb_base.SBBase(params: Optional[dict] = None)¶

Bases: object

get_abs_state()¶

Gets state of base (pose, velocity) and position of supports in global frame

Returns:: (dict) Dictionary containing the state of the agent

get_abs_support()¶

Get the support points of the agent in global frame.

Parameters:: supports – ({“left”:[x,y,z,h],…}) Support points of the agent. default: None
Returns:: ({“left”:[x,y,z,h],…}) Support points of the agent.

get_rel_support()¶

Get the support points of the agent.

Returns:: ({“left”:[x,y,z,h],…}) Support points of the agent.

go_2_position(x: Optional[list] = None, dt=0.1)¶

Drives base with position command.

Parameters:

x – ([x,y,h]) Position of the agent. default: None
dt – (float) Time step. default: 0.1

Returns:

(dict) Dictionary containing the pose and velocity of the agent.

go_2_velocity(v: Optional[list] = None, w: Optional[float] = None, dt=0.1)¶

Drives base with velocity command.

Parameters:

v – ([x,y]) Linear velocity of the agent. default: None
w – (float) Angular velocity of the agent. default: None

Returns:

(dict) Dictionary containing the pose and velocity of the agent.

plot(fig, ax, plot)¶

Plots the agent on an existing 3D plot.

Parameters:

fig – (figure) Figure to plot on.
ax – (axis) Axis to plot on.
plot – (bool) Whether or not to plot.

step(action: Optional[dict] = None, dt=0.1)¶

Step the agent in time.

Parameters:

action – (dict) Dictionary of actions to take. default: None
dt – (float) Time step. default: 0.1

Returns:

(dict) Dictionary containing the pose and velocity of the agent.

update_inertial_properties(a: Optional[float] = None, alpha: Optional[float] = None)¶

Update the inertial properties of the agent.

Parameters:

a – (float) Linear acceleration of the agent. default: None
alpha – (float) Angular acceleration of the agent. default: None

Support¶

This module contains the model for Stickbug arms

class irl_gym.support.stickbug.sb_support.SBSupport(params: dict = {}, observation_params: dict = {})¶

Bases: object

Stickbug Support class for managing movement of arms.

Note: For velocity and acceleration limits, these are assumed independent because the model is holonomic even though the robot is not.

Input

Parameters:

pose – (“left”: [x,y,z,h], “right”: [x,y,z,h]) Initial pose of the agent in the environment. default: {“left”: [0,0,0,0], “right”: [0,0,0,0]}
buffer – (float) Minimum distance between the members. default: 0.05
support_height – (float) Height of the support. default: 3
num_arms – (int) Number of arms on the agent. default: 6
max_accel – (float) Maximum acceleration of the agent. default: 1 (assume this includes arms and such too. Can be updated with update_inertial_properties())
max_speed – (dict) Maximum speed of the agent. default: {“v”: 1, “w”: 1}
pid – (dict) Dictionary of PID parameters for the agent. default: {“p”: 1, “i”: 0, “d”: 0, “db”: 0.01}
pid_angular – (dict) Dictionary of PID parameters for the agent. default: {“p”: 1, “i”: 0, “d”: 0, “db”: 0.01}
mem_length – (dict) Length of the members. default: {“bicep”: 0.5, “forearm”: 0.5}
joint_rest – (list) Rest point of the joints. default: [0.1,0.5]
joint_constraints – (dict) Constraints on the joints. default: {“z”: {“min: <lower_joint>,”max”: <upper_joint>},”th1”: {“min”: -np.pi, “max”: np.pi}, “th2”: {“min”: -np.pi, “max”: np.pi}}
show_bounds – (bool) Whether to show the bounds of the agent. default: False
observation_params – (dict) Parameters for the observation model. default: {“log_level”: “WARNING”}
log_level – (str) Level of logging to use. For more info see logging levels, default: “WARNING”

init_arms(num: int = 6)¶

Initialize the arms on the agent.

Parameters:: num – (int) Number of arms to initialize. default: 6
Returns:: (list) List of arms

observe_flowers(flowers=None)¶

Observe the flowers in the environment

Parameters:: flowers – (list) List of flowers in the environment
Returns:: (list) List of observations for each arm

plot(fig, ax, plot)¶

Plot the agent in the environment.

Parameters:

fig – (matplotlib.figure.Figure) Figure to plot on
ax – (matplotlib.axes.Axes) Axes to plot on
plot – (bool) Whether to plot the agent

step(action: dict = {}, dt=0.1, flowers=[])¶

Step the agent forward in time.

Parameters:

action – (dict) Action to take. default: {}}
dt – (float) Time step to use. default: 0.1
flowers – (list) List of flowers in the environment. default: []

update(pose)¶

Update the pose of the agent.

Parameters:: pose – (“left”: [x,y,z,h], “right”: [x,y,z,h]) Pose of the agent in the environment.

Arms¶

This module contains the model for Stickbug arms

class irl_gym.support.stickbug.sb_arm.SBArm(params: dict = {}, observation_params: dict = {})¶

Bases: object

Stickbug Arm class for moving arms on the robot.

Rest point is set to initial pose Unless obstructed, then z is fixed.

Note: For velocity and acceleration limits, these are assumed independent because the model is holonomic even though the robot is not.

Input

Parameters:

location – (dict) Which column arm is on, and if upper, middle, lower
pose – (dict) Initial pose of the arm. default: {“linear”:[0,0,0], “angular”:[0,0,0,0,0]]} # col angle, th1, th2, yaw,pitch
velocity – ([v,w1,w2]) Initial velocity of the arm. default: [0,0,0]
max_accel – (float) Maximum acceleration of the agent. default: 1
max_speed – (dict) Maximum speed of the agent. default: {“v”: 1, “w”: 1}
pid – (dict) Dictionary of PID parameters for the agent. default: {“p”: 1, “i”: 0, “d”: 0, “db”: 0.01}
pid_angular – (dict) Dictionary of PID parameters for the agent. default: {“p”: 1, “i”: 0, “d”: 0, “db”: 0.01}
mem_length – (dict) Length of the members. default: {“bicep”: 0.5, “forearm”: 0.5}
rest_point – (list) Rest point of the arm. default: [0,0,0]
buffer – (float) Buffer for the arm. default: 0.1
joint_constraints – (dict) Constraints on the joints. default: {“z”: {“min: <lower_joint>,”max”: <upper_joint>},”th1”: {“min”: -np.pi, “max”: np.pi}, “th2”: …, “yaw”: …, “pitch”: …}
show_bounds – (bool) Whether to show the bounds of the agent. default: False
show_camera – (bool) Whether to show the camera of the agent. default: False
observation_params – (dict) Parameters for observing flowers. default: {“position”: [0,0,0], “orientation”: [0,0,0]}
log_level –
(str) Level of logging to use. For more info see logging levels, default: “WARNING”

forward_kinematics_absolute(joints: Optional[list] = None)¶

Calculate the forward kinematics of the arm.

Parameters:: joints – ([z, shoulder, elbow]) Joint angles of the arm.
Returns:: (list) list containing the absolute pose of each joint.

forward_kinematics_relative(joints)¶

Calculate the forward kinematics of the arm.

Parameters:: joints – ([z, shoulder, elbow]) Joint angles of the arm.
Returns:: (list) list containing the relative pose of each joint.

get_absolute_state()¶

Get the state of the arm and bounding boxes in global frame.

Returns:: (dict) Dictionary containing the state of the agent {“arm”: {}, “camera”: [roll,pitch,yaw], “bounds”: {“bicep”: {“center”: [x,y,z], “radius”: r, “height”: h, “angle”: a}, “forearm”: {“center”: [x,y,z], “radius”: r, “height”: h, “angle”: a}}

get_bounds()¶

Get the bounds of the arm.

Returns:: (dict) Dictionary containing the bounds of the agent.

get_joint_angles(point)¶

Calculate the inverse kinematics of the arm.

Parameters:: point – (list) [x,y,z] position of the hand.
Returns:: (list) list containing the joint angles of the arm.

hand_2_position(point, dt=0.1)¶

Move the hand to position.

Parameters:

point – (list) [x,y,z,th1,th2,cam_yaw,cam_pitch] position of the hand.
dt – (float) time step

hand_2_relative_position(point, dt=0.1)¶

Move the hand to position.

Parameters:

point – (list) [x,y,z] position of the hand.
dt – (float) time step

hand_2_velocity(velocity, dt=0.1)¶

Move the hand to velocity. (Need to check if this is accurate.)

Parameters:

velocity – (list) [x, y, z, th1,th2,pitch,yaw] velocity of the hand.
dt – (float) time step

joint_2_position(point: Optional[list] = None, dt=0.1)¶

Move individual joints to position.

Parameters:

point – (list) [z, shoulder, elbow, yaw, pitch] position of the joints.
dt – (float) time step

Returns:

(dict) Dictionary containing the pose and velocity of the agent.

joint_2_velocity(velocity: Optional[list] = None, dt=0.1)¶

Move individual joints to velocity.

Parameters:

velocity – (list) [v, w1, w2] velocity of the joints.
dt – (float) time step

Returns:

(dict) Dictionary containing the pose and velocity of the agent.

observe_flowers(flowers)¶

Observe the flowers in the environment

Parameters:: flowers – (list) List of flowers in the environment
Returns:: (list) List of observations

plot_arm(fig, ax, plot=False)¶

Plot the arm.

Parameters:

fig – (matplotlib.figure.Figure) Figure to plot on.
ax – (matplotlib.axes._subplots.Axes3DSubplot) Axes to plot on.
plot – (bool) Whether to plot the arm. default: False

pollinate_flowers(flowers)¶

Pollinate the flowers in the environment

Parameters:: flowers – (list) List of flowers in the environment
Returns:: (list) Flower that were pollinated

step(action: Optional[dict] = None, flowers=None)¶

Perform action such as movement or attempt to pollinate

Parameters:

action – (dict) Dictionary containing the action to take.
flowers – (list) List of flowers in the environment

Returns:

(dict) Dictionary containing observation

update(shoulder_pose: Optional[list] = None, joint_velocity: Optional[list] = None, constraints: Optional[dict] = None)¶

Update the arm’s pose, velocity, and bounding boxes based on movement of supporting body.

Parameters:

shoulder_pose – (list) [x,y,z,h] position and angle (rad) of rotation in global frame
joint_velocity – ([v,w1,w2,cam_yaw,cam_pitch]) velocity of the joints.
constraints – (list) {“joints”: [z, shoulder, elbow], “bounds”: {}} position of the joints.

Stickbug Robot¶

Base¶

Support¶

Arms¶

irl-gym

Navigation

Related Topics