Shredder

Description

Shredders are considered an “actor” in Quanser Interactive Labs Open Worlds. They can be spawned anywhere in the Open Worlds and will delete widgets when they fall into the shredder.

Shredders should always use the same scale for x,y,z so they can function properly.

See the Shredder Tutorial to get a better understanding of using shredders in Quanser Interactive Labs.

Library

class qvl.shredder.QLabsShredder(qlabs, verbose=False)

Constants

QLabsShredder.ID_SHREDDER = 190

QLabsShredder.RED = 0

QLabsShredder.GREEN = 1

QLabsShredder.BLUE = 2

QLabsShredder.WHITE = 3

Member Variables

QLabsShredder.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

QLabsShredder.__init__(qlabs, verbose=False)

Constructor Method

Parameters

• qlabs (object) – A QuanserInteractiveLabs object

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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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]

QLabsShredder.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]

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

QLabsShredder.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

There are four configurations (0-3) for the shredder actor class.

• 0 or shredder.RED

• 1 or shredder.GREEN

• 2 or shredder.BLUE

• 3 or shredder.WHITE

Connection Points

There are no connection points for this actor class.

Shredder Tutorial

Example

Raw to download this tutorial: Shredder Tutorial.

"""
Shredder Library Example
-------------------------

.. note::

    Make sure you have Quanser Interactive Labs open before running this
    example.  This example is designed to best be run in any of the open
    world environments.

"""

# imports to important libraries
import sys
import math
import time

from qvl.qlabs import QuanserInteractiveLabs
from qvl.free_camera import QLabsFreeCamera
from qvl.widget import QLabsWidget
from qvl.shredder import QLabsShredder
from random import randrange

# this function creates a cylindrical widget at desired location,
# color of the widget is randomized.
def createCylinder(cylinder,location):
        #random color between red, green and blue
        color = [[0,1,0], [0,0,1], [1,0,0]]
        position = randrange(3)
        cylinder.spawn(location = location,
               rotation = [0, 0, .5],
               scale = [.05, .05, .05], # decrease the size of the widget
               configuration = cylinder.CYLINDER,  #set widget shape to cylinder
               color = color[position])

def main():

    # creates a server connection with Quanser Interactive Labs and manages the communications
    qlabs = QuanserInteractiveLabs()

    try:
        qlabs.open("localhost")
    except:
        print("Unable to connect to QLabs")
        return
    # create the widget instance
    cylinder = QLabsWidget(qlabs)
    # destroy any spawned actors (this is useful if you are running the same script over and over)
    qlabs.destroy_all_spawned_actors()

    # create a camera in this qlabs instance
    camera = QLabsFreeCamera(qlabs)
    # place the custom camera at a specified location and rotation using radians
    camera.spawn(location=[0.39, -11.2, 1.8], rotation=[0, 0.8, -1.581])
    # to switch our view from our current camera to the new camera we just initialized to
    # be able to view where our people will spawn
    camera.possess()

    ### Shredder
    # Create the shredder instance
    shredder = QLabsShredder(qlabs)
    # Spawn the first shredder, configuration = 2 indicates the color is blue
    shredder.spawn(location=[0, -12, 0], scale=[1,1,1], configuration=2)
    # Spawn the second shredder that is larger, controlled by the scale argument
    shredder.spawn(location=[.5, -12, 0], scale=[1.7,1.7,1.7], configuration=shredder.RED)
    time.sleep(2)
    
    # spawn 20 widgets and drop them into the shredders
    for i in range(20):
        # adding noise to the spawn location of the widgets
        noiseX = randrange(0,1)/20
        noiseY = randrange(0,1)/20
        # spawn one cylindical widget for each shredder
        createCylinder(cylinder,[0+noiseX, -12-noiseY, 1])
        createCylinder(cylinder,[.5-noiseX, -12+noiseY, 1])
        time.sleep(0.7)

    qlabs.close()

if __name__ == "__main__":
    main()