Drone

from tdw.add_ons.drone import Drone

A drone is a flying agent. From this API, you can set the drone's speed (lift, drive, turn) and turn its motor on and off.

The drone's output data, including images, is stored in drone.dynamic.

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Class Variables

Variable	Type	Description	Value
LIBRARY_NAME	str	The drone's library file. You can override this to use a custom library (e.g. a local library).	"drones.json"

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Fields

• initial_position The initial position of the drone.

• initial_rotation The initial rotation of the drone in Euler angles.

• dynamic The DroneDynamic data.

• drone_id The ID of this drone.

• avatar_id The ID of the drone's avatar (camera). This is used internally for API calls.

• commands These commands will be appended to the commands of the next communicate() call.

• initialized If True, this module has been initialized.

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Functions

__init__

Drone()

Drone(drone_id=0, position=None, rotation=None, name="drone", forward_speed=3, backward_speed=3, rise_speed=3, drop_speed=3, acceleration=0.3, deceleration=0.2, stability=0.1, turn_sensitivity=2, enable_lights=False, motor_on=True, image_capture=True, image_passes=None)

Parameter	Type	Default	Description
drone_id	int	0	The ID of the drone.
position	POSITION	None	The position of the drone as an x, y, z dictionary or numpy array. If None, defaults to {"x": 0, "y": 0, "z": 0}.
rotation	ROTATION	None	The rotation of the drone in Euler angles (degrees) as an x, y, z dictionary or numpy array. If None, defaults to {"x": 0, "y": 0, "z": 0}.
name	str	"drone"	The name of the drone model.
forward_speed	float	3	Sets the drone's max forward speed.
backward_speed	float	3	Sets the drone's max backward speed.
rise_speed	float	3	Sets the drone's max vertical rise speed.
drop_speed	float	3	Sets the drone's max vertical drop speed.
acceleration	float	0.3	How fast the drone speeds up.
deceleration	float	0.2	How fast the drone slows down.
stability	float	0.1	How easily the drone is affected by outside forces.
turn_sensitivity	float	2	The name of the drone model.
enable_lights	bool	False	Sets whether or not the drone's lights are on.
motor_on	bool	True	Sets whether or not the drone is active on start.
image_capture	bool	True	If True, the drone will receive image and camera matrix data per communicate() call. Whether or not this is True, the drone will always render images in the simulation window.
image_passes	List[str]	None	A list of image passes that will be captured. Ignored if image_capture == False. If None, defaults to ["_img", "_id"].

get_initialization_commands

self.get_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

Returns: A list of commands that will initialize this add-on.

on_send

self.on_send(resp)

This is called within Controller.communicate(commands) after commands are sent to the build and a response is received.

Use this function to send commands to the build on the next Controller.communicate(commands) call, given the resp response. Any commands in the self.commands list will be sent on the next Controller.communicate(commands) call.

Parameter	Type	Default	Description
resp	List[bytes]		The response from the build.

before_send

self.before_send(commands)

This is called within Controller.communicate(commands) before sending commands to the build. By default, this function doesn't do anything.

Parameter	Type	Default	Description
commands	List[dict]		The commands that are about to be sent to the build.

get_early_initialization_commands

self.get_early_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

These commands are added to the list being sent on communicate() before any other commands, including those added by the user and by other add-ons.

Usually, you shouldn't override this function. It is useful for a small number of add-ons, such as loading screens, which should initialize before anything else.

Returns: A list of commands that will initialize this add-on.

set_lift

self.set_lift(lift)

Set the drone's lift force.

Parameter	Type	Default	Description
lift	int		The lift force. Must be -1, 0, or 1.

set_drive

self.set_drive(drive)

Set the drone's drive force.

Parameter	Type	Default	Description
drive	int		The drive force. Must be -1, 0, or 1.

set_turn

self.set_turn(turn)

Set the drone's turn force.

Parameter	Type	Default	Description
turn	int		The turn force. Must be -1, 0, or 1.

set_motor

self.set_motor(motor_on)

Turn the drone's motor on or off.

Parameter	Type	Default	Description
motor_on	bool		If True, turn the motor on. If False, turn the motor off.

set_speed

self.set_speed()

self.set_speed(forward_speed=3)

Set the drone's forward and/or backward speeds.

Parameter	Type	Default	Description
forward_speed	float	3	The forward speed. Must be between 0 and 20.0.