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move_by.md

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MoveBy

from tdw.wheelchair_replicant.actions.move_by import MoveBy

Move by a given distance by applying torques to the rear wheel motors.

Stop moving by setting the motor torques to 0 and applying the brakes.

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

  • If the Replicant moves the target distance, 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

  • distance The target distance. If less than 0, the Replicant will move backwards.

  • wheel_values The WheelValues that will be applied to the wheelchair's wheels.

  • reset_arms If True, reset the arms to their neutral positions while beginning to move.

  • reset_arms_duration The speed at which the arms are reset in seconds.

  • scale_reset_arms_duration If True, reset_arms_duration will be multiplied by framerate / 60), ensuring smoother motions at faster-than-life simulation speeds.

  • arrived_at A distance or time determines whether the WheelchairReplicant arrived at the target.

  • collision_detection The CollisionDetection rules.

  • collision_avoidance_distance If collision_detection.avoid == True, an overlap will be cast at this distance from the Wheelchair Replicant to detect obstacles.

  • collision_avoidance_half_extents If collision_detection.avoid == True, an overlap will be cast with these half extents to detect obstacles.

Functions

__init__

MoveBy(distance, wheel_values, dynamic, collision_detection, previous, reset_arms, reset_arms_duration, scale_reset_arms_duration, arrived_at, collision_avoidance_distance, collision_avoidance_half_extents)

Parameter Type Default Description
distance float The target distance. If less than 0, the Replicant will walk backwards.
wheel_values WheelValues The WheelValues that will be applied to the wheelchair's wheels.
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.
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.