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MagnebotDynamic

from magnebot.magnebot_dynamic import MagnebotDynamic

Dynamic data for the Magnebot.

With a Magnebot agent:

from tdw.controller import Controller
from tdw.tdw_utils import TDWUtils
from magnebot import Magnebot

m = Magnebot(robot_id=0, position={"x": 0.5, "y": 0, "z": -1})
c = Controller()
c.add_ons.append(m)
c.communicate(TDWUtils.create_empty_room(12, 12))
print(m.dynamic.transform.position)
c.communicate({"$type": "terminate"})

With a single-agent MagnebotController:

from magnebot import MagnebotController

m = MagnebotController()
m.init_scene()
print(m.magnebot.dynamic.transform.position)
m.end()

Class Variables

Variable Type Description Value
NON_MOVING float If the joint moved by less than this angle or distance since the previous frame, it's considered to be non-moving. 0.001

Fields

  • held A dictionary of object IDs currently held by the Magnebot. Key = The arm. Value = a numpy array of object IDs.

  • top The position of the point at the top of the Magnebot's column.

  • images The images rendered by the robot as dictionary. Key = the name of the pass. Value = the pass as a numpy array.

  • projection_matrix The camera projection matrix of the Magnebot's camera as a numpy array.

  • camera_matrix The camera matrix of the Magnebot's camera as a numpy array.

  • frame_count The current frame count. This is used for image filenames.

  • transform The Transform data for this robot.

  • joints A dictionary of JointDynamic. Key = The ID of the joint.

  • immovable If True, this robot is immovable.

  • collisions_with_objects A dictionary of collisions between one of this robot's body parts (joints or non-moving) and another object.

  • collisions_with_self A dictionary of collisions between two of this robot's body parts.

  • collisions_with_environment A dictionary of collisions between one of this robot's body parts and the environment (floors, walls, etc.).

Functions

__init__

MagnebotDynamic(static, resp)

Parameter Type Default Description
static MagnebotStatic MagnebotStatic data for this robot.
resp List[bytes] The response from the build.

save_images

self.save_images(output_directory)

Save the ID pass (segmentation colors) and the depth pass to disk. Images will be named: [frame_number]_[pass_name].[extension] For example, the depth pass on the first frame will be named: 00000000_depth.png

The img pass is either a .jpg. The id and depth passes are .png files.

Parameter Type Default Description
output_directory Union[str, Path] The directory that the images will be saved to.

get_pil_images

self.get_pil_images()

Convert each image pass from the robot camera to PIL images.

Returns: A dictionary of PIL images. Key = the pass name (img, id, depth); Value = The PIL image (can be None)

get_depth_values

self.get_depth_values()

Convert the depth pass to depth values. Can be None if there is no depth image data.

Returns: A decoded depth pass as a numpy array of floats.

get_point_cloud

self.get_point_cloud()

Returns a point cloud from the depth pass. Can be None if there is no depth image data.

Returns: A decoded depth pass as a numpy array of floats.