Conveyors

Conveyors are considered an “actor” in Quanser Interactive Labs Open Worlds. The conveyor library controls the conveyors available to be placed in the QLabs environment. Conveyors can be straight or curved and can be spawned anywhere in the Open Worlds.

See the Conveyors Tutorial to get a better understanding of using conveyors in Quanser Interactive Labs.

Straight Conveyor

Library

class qvl.conveyor_straight.QLabsConveyorStraight(qlabs, verbose=False)[source]

Constants

QLabsConveyorStraight.ID_CONVEYOR_STRAIGHT = 210

Member Variables

QLabsConveyorStraight.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

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

Constructor Method

Parameters

  • qlabs (object) – A QuanserInteractiveLabs object

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

QLabsConveyorStraight.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

QLabsConveyorStraight.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

QLabsConveyorStraight.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

QLabsConveyorStraight.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

QLabsConveyorStraight.set_speed(speed)[source]
QLabsConveyorStraight.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame 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 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsConveyorStraight.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

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 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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame 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 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsConveyorStraight.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

QLabsConveyorStraight.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

QLabsConveyorStraight.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]

QLabsConveyorStraight.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]

QLabsConveyorStraight.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

QLabsConveyorStraight.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

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

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsConveyorStraight.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

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.

  • parentClassID (uint32) – (Optional) See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – (Optional) 0 for the origin of the parent actor, see the parent class for additional reference frame options

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

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsConveyorStraight.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

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

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsConveyorStraight.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

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

Returns

  • status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

QLabsConveyorStraight.set_custom_properties(measuredMass=0, IDTag=0, properties='', waitForConfirmation=True)

Assigns custom properties to an actor.

Parameters

  • measuredMass (float) – A float value for use with mass sensor instrumented actors. This does not alter the dynamic properties.

  • IDTag (uint32) – An integer value for use with IDTag sensor instrumented actors or for custom use.

  • properties (string) – A string for use with properties sensor instrumented actors. This can contain any string that is available for use to parse user-customized parameters.

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

Returns

  • status - True if successful, False otherwise

Return type

boolean

QLabsConveyorStraight.get_custom_properties()

Gets previously assigned custom properties to an actor.

Returns

  • status - True if successful, False otherwise

  • measuredMass - float value

  • IDTag - integer value

  • properties - UTF-8 string

Return type

boolean, float, int32, string

Configurations

A spawned straight conveyor with configuration set to 0 will create a conveyor of 0.5 m in length. For each number you increase the configuration the length will increase by .25m. For example, a configuration of 3 will create a 1.25m conveyor. The configuration number accepts whole number between 0 and 20.

All types of conveyors can be connected to make a setup of your choosing. We recommend overlapping the position of the conveyors by 0.05 meters to make sure objects can move between conveyors without any problem.

../_images/configuration_straightConveyor.png

Connection Points

There are no connection points for this actor class.

Curved Conveyor

Library

class qvl.conveyor_curved.QLabsConveyorCurved(qlabs, verbose=False)[source]

Constants

QLabsConveyorCurved.ID_CONVEYOR_CURVED = 211

Member Variables

QLabsConveyorCurved.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

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

Constructor Method

Parameters

  • qlabs (object) – A QuanserInteractiveLabs object

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

QLabsConveyorCurved.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

QLabsConveyorCurved.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

QLabsConveyorCurved.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

QLabsConveyorCurved.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

QLabsConveyorCurved.set_speed(speed)[source]
QLabsConveyorCurved.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame 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 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsConveyorCurved.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

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 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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame 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 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsConveyorCurved.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

QLabsConveyorCurved.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

QLabsConveyorCurved.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]

QLabsConveyorCurved.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]

QLabsConveyorCurved.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

QLabsConveyorCurved.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

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

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsConveyorCurved.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

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.

  • parentClassID (uint32) – (Optional) See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – (Optional) 0 for the origin of the parent actor, see the parent class for additional reference frame options

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

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsConveyorCurved.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

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

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

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

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsConveyorCurved.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

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

Returns

  • status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

QLabsConveyorCurved.set_custom_properties(measuredMass=0, IDTag=0, properties='', waitForConfirmation=True)

Assigns custom properties to an actor.

Parameters

  • measuredMass (float) – A float value for use with mass sensor instrumented actors. This does not alter the dynamic properties.

  • IDTag (uint32) – An integer value for use with IDTag sensor instrumented actors or for custom use.

  • properties (string) – A string for use with properties sensor instrumented actors. This can contain any string that is available for use to parse user-customized parameters.

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

Returns

  • status - True if successful, False otherwise

Return type

boolean

QLabsConveyorCurved.get_custom_properties()

Gets previously assigned custom properties to an actor.

Returns

  • status - True if successful, False otherwise

  • measuredMass - float value

  • IDTag - integer value

  • properties - UTF-8 string

Return type

boolean, float, int32, string

Configurations

By default, the curved conveyor is spawned from the center and has a radius of 0.5m. When configuration is set to 1, it will create a 15 degree conveyor. For each number you increase the configuration the length will increase by 15 degrees.

For example, a configuration of 3 will create a 45 degree conveyor. The configuration number accepts whole numbers between 1 and 24.

Using a configuration number of 24 will create a circular conveyor.

All types of conveyors can be connected to make a setup of your choosing. We recommend overlapping the position of the conveyors by 0.05 meters to make sure objects can move between conveyors without any problem.

../_images/configuration_curvedConveyor.png

Connection Points

There are no connection points for this actor class.

Conveyors Tutorial

Example

Raw to download this tutorial: Conveyor Tutorial.

 1"""
 2Conveyor Library Example
 3-------------------------
 4
 5.. note::
 6
 7    Make sure you have Quanser Interactive Labs open before running this
 8    example.  This example is designed to best be run in any of the open
 9    world environments.
10
11"""
12
13# imports to important libraries
14import sys
15import math
16import time
17
18from qvl.qlabs import QuanserInteractiveLabs
19from qvl.free_camera import QLabsFreeCamera
20from qvl.widget import QLabsWidget
21from qvl.conveyor_curved import QLabsConveyorCurved
22from qvl.conveyor_straight import QLabsConveyorStraight
23
24def main():
25
26    # creates a server connection with Quanser Interactive Labs and manages the communications
27    qlabs = QuanserInteractiveLabs()
28
29    try:
30        qlabs.open("localhost")
31    except:
32        print("Unable to connect to QLabs")
33        return
34    cylinder = QLabsWidget(qlabs)
35    # destroy any spawned actors (this is useful if you are running the same script over and over)
36    qlabs.destroy_all_spawned_actors()
37
38    # create a camera in this qlabs instance
39    camera = QLabsFreeCamera(qlabs)
40    # place the custom camera at a specified location and rotation using radians
41    camera.spawn(location=[0.8, 0.7, 1.3], rotation=[0, 0.8, -1.581])
42    # to switch our view from our current camera to the new camera we just initialized to
43    # be able to view where our people will spawn
44    camera.possess()
45
46    ### Create conveyors
47    # The configuration argument is an integer associated with the length of the conveyors
48    # For straight conveyor, configuration = 0 corresponds to a length of 0.5. With each 
49    # increase in configuration, the lengh is increased by 0.25, up to configuratoin = 20  
50    straightConveyor = QLabsConveyorStraight(qlabs)
51    straightConveyor.spawn_id_degrees(actorNumber = 0,
52                                    location = [0, 0, 0],
53                                    rotation = [0, 0, 0],
54                                    scale = [1,1,1],
55                                    configuration = 5)
56    # For curved conveyor, configuration = 0 corresponds to a circular arc of 15 degree. 
57    # With each increase in configuration, the arc length is increased by 15 degrees, up to 
58    # configuratoin = 24.
59    curvedConveyor = QLabsConveyorCurved(qlabs)
60    curvedConveyor.spawn_id_degrees(actorNumber = 1,
61                                    location = [0.03, -0.5, 0],
62                                    rotation = [0, 0, 0],
63                                    scale = [1,1,1],
64                                    configuration = 6)
65    time.sleep(2)
66
67    ### set the speed for each conveyor 
68    straightConveyor.set_speed(0.3)
69    curvedConveyor.set_speed(0.07)
70
71    time.sleep(2)
72
73    ### drop one cylinder widget on top of the straight convoryer
74    cylinder.spawn(location = [1.6, 0, 1],
75               rotation = [0, 0, .5],
76               scale = [.05, .05, .05],
77               configuration = cylinder.CYLINDER)
78
79    time.sleep(1)
80
81    qlabs.close()
82
83if __name__ == "__main__":
84    main()