Animals

Description

Animals are considered “actors” in the Open World Workspaces. The animal library controls the animals placed in Quanser Interactive Labs.

Animal actors can be spawned anywhere in the open worlds, but to use the move_to methods to allow the people to self-navigate around the environment, they must originate and travel to a connected valid nav area.

For the best visual animation, it is recommended that you use the speed constants defining different gait styles. A character will accurately travel at any specified speed up to 6m/s, but the visual animation may give the impression of “slipping” at certain speeds outside the recommended values.

Library

class qvl.animal.QLabsAnimal(qlabs, verbose=False)[source]

This class implements spawning and AI navigation of the environment for animals.

Constants

QLabsAnimal.ID_ANIMAL = 10031
QLabsAnimal.GOAT = 0

Configuration constant.

QLabsAnimal.SHEEP = 1

Configuration constant.

QLabsAnimal.COW = 2

Configuration constant.

QLabsAnimal.GOAT_STANDING = 0

Speed constant for the move_to method.

QLabsAnimal.GOAT_WALK = 0.8

Speed constant for the move_to method.

QLabsAnimal.GOAT_RUN = 4.0

Speed constant for the move_to method.

QLabsAnimal.SHEEP_STANDING = 0

Speed constant for the move_to method.

QLabsAnimal.SHEEP_WALK = 0.6

Speed constant for the move_to method.

QLabsAnimal.SHEEP_RUN = 3.0

Speed constant for the move_to method.

QLabsAnimal.COW_STANDING = 0

Speed constant for the move_to method.

QLabsAnimal.COW_WALK = 1.0

Speed constant for the move_to method.

QLabsAnimal.COW_RUN = 6.0

Speed constant for the move_to method.

Member Variables

QLabsAnimal.actorNumber = None

The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsAnimal.__init__(qlabs, verbose=False)[source]

Constructor method

Parameters

  • qlabs (object) – A QuanserInteractiveLabs object

  • verbose (boolean) – (Optional) Print error information to the console.

QLabsAnimal.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

Tip

The origin of the animal is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsAnimal.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

Tip

The origin of the animal is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsAnimal.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

Tip

The origin of the animal is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsAnimal.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

Tip

The origin of the animal is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsAnimal.move_to(location, speed, waitForConfirmation=True)

Commands an actor to move from the present location to a new target location by using AI path navigation.

Parameters

  • location (float array[3]) – A target destination as an array of floats for x, y and z coordinates in full-scale units.

  • speed (float) – The speed at which the person should walk to the destination (refer to the constants for recommended speeds)

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation before proceeding. This makes the method a blocking operation, but only until the command is received. The time for the actor to traverse to the destination is always non-blocking.

Returns

  • status - True if successful, False otherwise

Return type

boolean

Tip

Ensure the start and end locations are in valid navigation areas so the actor can find a path to the destination.

QLabsAnimal.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsAnimal.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsAnimal.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

  • status - True if successful, False otherwise

Return type

boolean

QLabsAnimal.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsAnimal.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

Configurations

There are 3 configurations (0-2) for a animal generated in QLabs.

../_images/configuration_animals.png

Connection Points

There are no connection points for the animal actor.

Animal Tutorial

Example

Coming Soon!