maddux package¶

Submodules¶

Our experiment environment.

class maddux.environment.Environment(dimensions=None, dynamic_objects=None, static_objects=None, robot=None)[source]¶

animate(duration=None, save_path=None)[source]¶

Animates the running of the program

Parameters:	duration (int or None) – (Optional) Duration of animation in seconds save_path (String or None) – (Optional) Path to save mp4 in instead of displaying
Return type:	None

collision()[source]¶

Check if any dynamic objects collide with any static objects or walls.

Returns:	Whether there was a collision
Return type:	bool

hypothetical_landing_position()[source]¶

Find the position that the ball would land (or hit a wall)

Returns:	Position (x, y, z) of hypothetical landing position of a thrown object based on end effector velocity.
Return type:	numpy.ndarray or None

plot(ax=None, show=True)[source]¶

Plot throw trajectory and ball

Parameters:	ax (matplotlib.axes) – Current axis if a figure already exists show (bool) – (Default: True) Whether to show the figure
Return type:	None

run(duration)[source]¶

Run for a certain duration

Parameters:	duration (integer) – duration to run environment in seconds
Return type:	None

maddux.plot.plot_sphere(position, radius, ax, color='g', linewidth=0)[source]¶

Plot a sphere.

Parameters:	position (numpy.ndarray) – Position in (x, y, z) of sphere radius (int) – radius of sphere ax (matplotlib.axes) – axes to plot on color (str) – (Optional) color of sphere linewidth (int) – (Optional) width of ball gridlines
Return type:	matplotlib.axes

maddux.plot.plot_sphere_data(position, radius)[source]¶

Given a position and radius, get the data needed to plot.

Parameters:	position (numpy.ndarray) – Position in (x, y, z) of sphere radius (int) – radius of sphere
Returns:	(x, y, z) tuple of sphere data to use to create a surface
Return type:	(np.ndarray, np.ndarray, np.ndarray)

maddux.predefined_environments.get_easy_environment()[source]¶: An easy difficulty environment for planning tests with two obstacles, a ball as a target, and a simple human arm.

maddux.predefined_environments.get_hard_environment()[source]¶: A hard difficulty environment for planning tests with five obstacles, a ball as a target, and a simple human arm.

maddux.predefined_environments.get_medium_environment()[source]¶: A medium difficulty environment for planning tests with two obstacles, a ball as a target, and a simple human arm.

maddux.predefined_environments.get_noodle_environment()[source]¶: An absurd environment for our noodle arm to do planning tests. It has five obstacles, a ball as a target, and our 10 link noodle arm

maddux.predefined_environments.get_tutorial_environment()[source]¶: Our environment from our documentation tutorial

maddux.predefined_environments.get_very_hard_environment()[source]¶: A very hard difficulty environment for planning tests with three obstacles, a ball as a target, and a simple human arm.