RobotDynamic

from tdw.robot_data.robot_dynamic import RobotDynamic

Dynamic data for a robot that can change per frame (such as the position of the robot, the angle of a joint, etc.)

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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

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Fields

• 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. Key = A tuple where the first element is the body part ID and the second element is the object ID. Value = A list of collision data.

• collisions_with_self A dictionary of collisions between two of this robot's body parts. Key = An unordered tuple of two body part IDs. Value = A list of collision data.

• collisions_with_environment A dictionary of collisions between one of this robot's body parts and the environment (floors, walls, etc.). Key = The ID of the body part. Value = A list of environment collision data.

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Functions

__init__

RobotDynamic(static, resp)

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