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MoveTo

from tdw.wheelchair_replicant.actions.move_to import MoveTo

Turn the wheelchair to a target position or object and then move to it.

The action can end for several reasons depending on the collision detection rules (see self.collision_detection.

  • If the Replicant moves the target distance (i.e. it reaches its target), the action succeeds.
  • If self.collision_detection.previous_was_same == True, and the previous action was MoveBy or MoveTo, and it was in the same direction (forwards/backwards), and the previous action ended in failure, this action ends immediately.
  • If self.collision_detection.avoid_obstacles == True and the Replicant encounters a wall or object in its path:
    • If the object is in self.collision_detection.exclude_objects, the Replicant ignores it.
    • Otherwise, the action ends in failure.
  • If the Replicant collides with an object or a wall and self.collision_detection.objects == True and/or self.collision_detection.walls == True respectively:
    • If the object is in self.collision_detection.exclude_objects, the Replicant ignores it.
    • Otherwise, the action ends in failure.

Fields

  • turning If True, the wheelchair is turning. If False, the wheelchair is moving.

  • action The current sub-action. This is first a TurnTo, then a MoveBy.

  • arrived_at If at any point during the action the difference between the target distance and distance traversed is less than this, then the action is successful.

  • status The current status of the action. By default, this is ongoing (the action isn't done).

  • initialized If True, the action has initialized. If False, the action will try to send get_initialization_commands(resp) on this frame.

  • done If True, this action is done and won't send any more commands.

Functions

__init__

MoveTo(target, turn_wheel_values, move_wheel_values, dynamic, collision_detection, previous, reset_arms, reset_arms_duration, scale_reset_arms_duration, aligned_at, arrived_at, collision_avoidance_distance, collision_avoidance_half_extents)

Parameter Type Default Description
target TARGET The target. If int: An object ID. If dict: A position as an x, y, z dictionary. If numpy array: A position as an [x, y, z] numpy array.
turn_wheel_values Optional[WheelValues] The WheelValues that will be applied to the wheelchair's wheels while it's turning. If None, values will be derived from the angle.
move_wheel_values Optional[WheelValues] The WheelValues that will be applied to the wheelchair's wheels while it's moving. If None, values will be derived from the distance.
dynamic ReplicantDynamic The ReplicantDynamic data that changes per communicate() call.
collision_detection CollisionDetection The CollisionDetection rules.
previous Optional[Action] The previous action, if any.
reset_arms bool If True, reset the arms to their neutral positions while beginning to move.
reset_arms_duration float The speed at which the arms are reset in seconds.
scale_reset_arms_duration bool If True, reset_arms_duration will be multiplied by framerate / 60), ensuring smoother motions at faster-than-life simulation speeds.
aligned_at float If the angle between the traversed angle and the target angle is less than this threshold in degrees, the action succeeds.
arrived_at float If at any point during the action the difference between the target distance and distance traversed is less than this, then the action is successful.
collision_avoidance_distance float If collision_detection.avoid == True, an overlap will be cast at this distance from the Wheelchair Replicant to detect obstacles.
collision_avoidance_half_extents Dict[str, float] If collision_detection.avoid == True, an overlap will be cast with these half extents to detect obstacles.

get_initialization_commands

self.get_initialization_commands(resp, static, dynamic, image_frequency)

Parameter Type Default Description
resp List[bytes] The response from the build.
static ReplicantStatic The ReplicantStatic data that doesn't change after the Replicant is initialized.
dynamic ReplicantDynamic The ReplicantDynamic data that changes per communicate() call.
image_frequency ImageFrequency An ImageFrequency value describing how often image data will be captured.

Returns: A list of commands to initialize this action.

get_ongoing_commands

self.get_ongoing_commands(resp, static, dynamic)

Evaluate an action per-frame to determine whether it's done.

Parameter Type Default Description
resp List[bytes] The response from the build.
static ReplicantStatic The ReplicantStatic data that doesn't change after the Replicant is initialized.
dynamic ReplicantDynamic The ReplicantDynamic data that changes per communicate() call.

Returns: A list of commands to send to the build to continue the action.

get_end_commands

self.get_end_commands(resp, static, dynamic, image_frequency)

Parameter Type Default Description
resp List[bytes] The response from the build.
static ReplicantStatic The ReplicantStatic data that doesn't change after the Replicant is initialized.
dynamic ReplicantDynamic The ReplicantDynamic data that changes per communicate() call.
image_frequency ImageFrequency An ImageFrequency value describing how often image data will be captured.

Returns: A list of commands that must be sent to end any action.