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Drop

from tdw.replicant.actions.drop import Drop

Drop a held object.

The action ends when the object stops moving or the number of consecutive communicate() calls since dropping the object exceeds self.max_num_frames.

When an object is dropped, it is made non-kinematic. Any objects contained by the object are parented to it and also made non-kinematic. For more information regarding containment in TDW, read this.

Fields

  • arm The Arm holding the object.

  • object_id The ID of the held object.

  • object_position The current position of the object.

  • max_num_frames Wait this number of communicate() calls maximum for the object to stop moving before ending the action.

  • frame_count The current frame.

  • offset Prior to being dropped, set the object's positional offset. This can be a float (a distance along the object's forward directional vector). Or it can be a dictionary or numpy array (a world space position).

  • 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__

Drop(arm, dynamic, max_num_frames, offset)

Parameter Type Default Description
arm Arm The Arm holding the object.
dynamic ReplicantDynamic The ReplicantDynamic data that changes per communicate() call.
max_num_frames int Wait this number of communicate() calls maximum for the object to stop moving before ending the action.
offset Union[float, np.ndarray, Dict[str, float] Prior to being dropped, set the object's positional offset. This can be a float (a distance along the object's forward directional vector). Or it can be a dictionary or numpy array (a world space position).

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.