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reset_arm.md

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ResetArm

from tdw.replicant.actions.reset_arm import ResetArm

Move arm(s) back to rest position(s). One or both arms can be reset at the same time.

The Replicant's arm(s) will continuously over multiple communicate() calls move until either the motion is complete or the arm collides with something (see self.collision_detection).

  • The collision detection will respond normally to walls, objects, obstacle avoidance, etc.
  • If self.collision_detection.previous_was_same == True, and if the previous action was a subclass of ArmMotion, and it ended in a collision, this action ends immediately.

Fields

  • arms A list of Arm values that will reach for the target. Example: [Arm.left, Arm.right].

  • collision_detection The CollisionDetection rules.

  • collisions If the action fails in a collision, this is a list of arms that collided with something.

  • duration The duration of the motion in seconds.

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

  • 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.

  • duration The duration of the motion in seconds.

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

  • 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.

  • 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__

__init__

ResetArm(arms, dynamic, collision_detection, previous, duration, scale_duration)

Parameter Type Default Description
arms List[Arm] A list of Arm values that will reach for the target. Example: [Arm.left, Arm.right].
dynamic ReplicantDynamic The ReplicantDynamic data that changes per communicate() call.
collision_detection CollisionDetection The CollisionDetection rules.
previous Optional[Action] The previous action. Can be None.
duration float The duration of the motion in seconds.
scale_duration bool If True, duration will be multiplied by framerate / 60), ensuring smoother motions at faster-than-life simulation speeds.

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.