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IkPlan

from tdw.replicant.ik_plans.ik_plan import IkPlan

An IkPlan takes the reach-for parameters and converts them into a list of actions.

The parameters of IkPlan are similar to that of a ReachFor action, but an IkPlan is not an action.

This is an abstract class. Subclasses of IkPlan define how the list of ReachFor actions is set.

An IkPlan is used by the ReachForWithPlan action. (From the Replicant API, this is combined with the reach_for(target, arm) function).

Fields

  • duration 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 If True, duration will be multiplied by framerate / 60, ensuring smoother motions at faster-than-life simulation speeds.

  • arms The Arm(s) that will reach for each target.

  • collision_detection The CollisionDetection rules.

  • previous The previous action. Can be None.

  • targets 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 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 If the final ReachFor action ends and the hand is this distance or less from the target, the motion succeeds.

  • max_distance If at the start of the first ReachFor action the target is further away than this distance from the hand, the action fails.

  • from_held 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.

  • held_point 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.

Functions

__init__

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

Parameter Type Default Description
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_actions

self.get_actions(resp, static, dynamic)

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 Action.