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reach_for.md

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ReachFor

from magnebot.actions.reach_for import ReachFor

Reach for a target position. The action ends when the magnet is at or near the target position, or if it fails to reach the target. The Magnebot may try to reach for the target multiple times, trying different IK orientations each time, or no times, if it knows the action will fail.

Class Variables

Variable Type Description Value
JOINT_ORDER Dict[Arm, List[ArmJoint]] The order in which joint angles will be set. {Arm.left: [ArmJoint.column,

Fields

  • 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.

  • 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.

  • 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.

  • 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__

ReachFor(target, absolute, arm, set_torso, orientation_mode, target_orientation, dynamic)

ReachFor(target, absolute, arrived_at=0.125, arm, set_torso, orientation_mode, target_orientation, dynamic)

Parameter Type Default Description
target np.array The target position.
absolute bool If True, target is in absolute world coordinates. If False, target is relative to the position and rotation of the Magnebot.
arrived_at float 0.125 If the magnet is this distance or less from target, then the action is successful.
arm Arm The arm used for this action.
set_torso bool If True, stop sliding the torso when the arms stop moving at the end of the action.
orientation_mode OrientationMode The orientation mode.
target_orientation TargetOrientation The target orientation.
dynamic MagnebotDynamic The dynamic Magnebot data.

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 MagnebotStatic The static Magnebot data.
dynamic MagnebotDynamic The dynamic Magnebot data.
image_frequency ImageFrequency How image data will be captured during the image.

Returns: A list of commands to initialize this action.

set_status_after_initialization

self.set_status_after_initialization()

In some cases (such as camera actions) that finish on one frame, we want to set the status after sending initialization commands. To do so, override this method.

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 MagnebotStatic The static Magnebot data.
dynamic MagnebotDynamic The dynamic Magnebot data.

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 MagnebotStatic The static Magnebot data.
dynamic MagnebotDynamic The dynamic Magnebot data.
image_frequency ImageFrequency How image data will be captured during the image.

Returns: A list of commands that must be sent to end any action.