turn_to.md

TurnTo

from tdw.wheelchair_replicant.actions.turn_to import TurnTo

Turn to a target object or position.

The wheelchair turns by applying motor torques to the rear wheels and a steer angle to the front wheels.

Therefore, the wheelchair is not guaranteed to turn in place.

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

• If the Replicant turns by the target angle, 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.

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Fields

• angle The target angle in degrees.

• 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.

• 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__

TurnTo(target, 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
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.
wheel_values	Optional[WheelValues]		The WheelValues that will be applied to the wheelchair's wheels. If None, values will be derived from angle.
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 the angle between the traversed angle and the target angle is less than this threshold in degrees, the action succeeds.
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.