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ReachForWithPlan

from tdw.replicant.actions.reach_for_with_plan import ReachForWithPlan

Reach for a target object or position.

This is similar to ReachFor but has the following differences:

  • There are multiple ReachFor sub-actions defined by an IkPlanType value.
  • There is no option for an offhand to follow the hand to the target.

ReachForWithPlan can be useful when the agent needs to maneuver its arm in a specific way, such as reaching above a surface and then forward.

Within the Replicant, this action gets used by reach_for(target, arm) if the user sets the optional plan parameter.

If target is an object, the target position is a point on the object. If the object has affordance points, the target position is the affordance point closest to the hand. Otherwise, the target position is the bounds position closest to the hand.

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).

  • If the hand is near the target at the end of the action, the action succeeds.
  • If the target is too far away at the start of the action, the action fails.
  • 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.

See also: ReachFor.

Fields

  • ik_plan The IkPlan this action will use.

  • actions A list of actions that will be filled in get_initialization_commands().

  • action_index The index of the current action.

  • 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__

ReachForWithPlan(plan, targets, absolute, arrived_at, max_distance, arms, dynamic, collision_detection, previous, duration, scale_duration, from_held, held_point)

Parameter Type Default Description
plan IkPlanType An IkPlanType that will define the IkPlan this action will use.
targets List[TARGET] The targets per arm. 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.
absolute bool If True, the target position is in world space coordinates. If False, the target position is relative to the Replicant. Ignored if target is an int.
arrived_at float If the final ReachFor action ends and the hand is this distance or less from the target, the motion succeeds.
max_distance float If at the start of the first ReachFor action the target is further away than this distance from the hand, the action fails.
arms List[Arm] The Arm(s) that will reach for each target.
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 total duration of the motion in seconds. Each ReachFor action is a fraction of this. For example, if there are 2 ReachFor actions, then the duration of each of them is duration / 2.
scale_duration bool If True, duration will be multiplied by framerate / 60), ensuring smoother motions at faster-than-life simulation speeds.
from_held bool If False, the Replicant will try to move its hand to the target. If True, the Replicant will try to move its held object to the target. This is ignored if the hand isn't holding an object.
held_point str The bounds point of the held object from which the offset will be calculated. Can be "bottom", "top", etc. For example, if this is "bottom", the Replicant will move the bottom point of its held object to the target. This is ignored if from_held == False or ths hand isn't holding an object.

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.