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wheelchair_motion.md

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WheelchairMotion

from tdw.wheelchair_replicant.actions.wheelchair_motion import WheelchairMotion

Abstract base class for actions involving wheelchair motion (motor torques, brake torques, etc.)

Fields

  • 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.

  • 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__

WheelchairMotion(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
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 A distance or time determines whether the WheelchairReplicant arrived at the target.
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.