Commands¶

This module contains the classes used for formatting and sending commands to the Holodeck backend. Most of these commands are just used internally by Holodeck, regular users do not need to worry about these.

Classes

`AddSensorCommand`(sensor_definition)	Add a sensor to an agent
`Command`()	Base class for Command objects.
`CommandCenter`(client)	Manages pending commands to send to the client (the engine).
`CommandsGroup`()	Represents a list of commands
`CustomCommand`(name[, num_params, string_params])	Send a custom command to the currently loaded world.
`DebugDrawCommand`(draw_type, start, end, …)	Draw debug geometry in the world.
`RGBCameraRateCommand`(agent_name, …)	Set the number of ticks between captures of the RGB camera.
`RemoveSensorCommand`(agent, sensor)	Remove a sensor from an agent
`RenderQualityCommand`(render_quality)	Adjust the rendering quality of Holodeck
`RenderViewportCommand`(render_viewport)	Enable or disable the viewport.
`RotateSensorCommand`(agent, sensor, rotation)	Rotate a sensor on the agent
`SpawnAgentCommand`(location, rotation, name, …)	Spawn an agent in the world.
`TeleportCameraCommand`(location, rotation)	Move the viewport camera (agent follower)

class holodeck.command.AddSensorCommand(sensor_definition)¶

Add a sensor to an agent

Parameters:	sensor_definition (SensorDefinition) – Sensor to add

class holodeck.command.Command¶

Base class for Command objects.

Commands are used for IPC between the holodeck python bindings and holodeck binaries.

Derived classes must set the _command_type.

The order in which add_number_parameters() and add_number_parameters() are called is significant, they are added to an ordered list. Ensure that you are adding parameters in the order the client expects them.

Methods

`add_number_parameters`(number)	Add given number parameters to the internal list.
`add_string_parameters`(string)	Add given string parameters to the internal list.
`set_command_type`(command_type)	Set the type of the command.
`to_json`()	Converts to json.

add_number_parameters(number)¶

Add given number parameters to the internal list.

Parameters:	number (`list` of `int`/`float`, or singular `int`/`float`) – A number or list of numbers to add to the parameters.

add_string_parameters(string)¶

Add given string parameters to the internal list.

Parameters:	string (`list` of `str` or `str`) – A string or list of strings to add to the parameters.

set_command_type(command_type)¶

Set the type of the command.

Parameters:	command_type (`str`) – This is the name of the command that it will be set to.

to_json()¶

Converts to json.

Returns:	This object as a json string.
Return type:	`str`

class holodeck.command.CommandCenter(client)¶

Manages pending commands to send to the client (the engine).

Parameters:	client (`HolodeckClient`) – Client to send commands to

Methods

`clear`()	Clears pending commands
`enqueue_command`(command_to_send)	Adds command to outgoing queue.
`handle_buffer`()	Writes the list of commands into the command buffer, if needed.

Attributes

queue_size Size of commands queue

clear()¶: Clears pending commands

enqueue_command(command_to_send)¶

Adds command to outgoing queue.

Parameters:	command_to_send (`Command`) – Command to add to queue

handle_buffer()¶

Writes the list of commands into the command buffer, if needed.

Checks if we should write to the command buffer, writes all of the queued commands to the buffer, and then clears the contents of the self._commands list

queue_size¶

Size of commands queue

Type:	Returns
Type:	int

class holodeck.command.CommandsGroup¶

Represents a list of commands

Can convert list of commands to json.

Methods

add_command(command) Adds a command to the list

clear() Clear the list of commands.

to_json()

returns:	Json for commands array object and all of the commands inside the array.

Attributes

size Size of commands group

add_command(command)¶

Adds a command to the list

Parameters:	command (`Command`) – A command to add.

clear()¶: Clear the list of commands.

size¶

Size of commands group

Type:	Returns
Type:	int

to_json()¶

Returns:	Json for commands array object and all of the commands inside the array.
Return type:	`str`

class holodeck.command.CustomCommand(name, num_params=None, string_params=None)¶

Send a custom command to the currently loaded world.

Parameters:	name (`str`) – The name of the command, ex “OpenDoor” (obj (string_params) – list of `int`): List of arbitrary number parameters (obj – list of `int`): List of arbitrary string parameters

class holodeck.command.DebugDrawCommand(draw_type, start, end, color, thickness)¶

Draw debug geometry in the world.

Parameters:

draw_type (int) –
The type of object to draw
- 0: line
- 1: arrow
- 2: box
- 3: point
start (list of float) – The start [x, y, z] location of the object. (see Coordinate System)
end (list of float) – The end [x, y, z] location of the object (not used for point, and extent for box)
color (list of float) – [r, g, b] values for the color
thickness (float) – thickness of the line/object

class holodeck.command.RGBCameraRateCommand(agent_name, sensor_name, ticks_per_capture)¶

Set the number of ticks between captures of the RGB camera.

Parameters:	agent_name (`str`) – name of the agent to modify sensor_name (`str`) – name of the sensor to modify ticks_per_capture (`int`) – number of ticks between captures

class holodeck.command.RemoveSensorCommand(agent, sensor)¶

Remove a sensor from an agent

Parameters:	agent (`str`) – Name of agent to modify sensor (`str`) – Name of the sensor to remove

class holodeck.command.RenderQualityCommand(render_quality)¶

Adjust the rendering quality of Holodeck

Parameters:	render_quality (int) – 0 = low, 1 = medium, 3 = high, 3 = epic

class holodeck.command.RenderViewportCommand(render_viewport)¶

Enable or disable the viewport. Note that this does not prevent the viewport from being shown, it just prevents it from being updated.

Parameters:	render_viewport (`bool`) – If viewport should be rendered

class holodeck.command.RotateSensorCommand(agent, sensor, rotation)¶

Rotate a sensor on the agent

Parameters:	agent (`str`) – Name of agent sensor (`str`) – Name of the sensor to rotate rotation (`list` of `float`) – `[roll, pitch, yaw]` rotation for sensor.

class holodeck.command.SpawnAgentCommand(location, rotation, name, agent_type, is_main_agent=False)¶

Spawn an agent in the world.

Parameters:	location (`list` of `float`) – `[x, y, z]` location to spawn agent (see Coordinate System) name (`str`) – The name of the agent. agent_type (`str` or type) – The type of agent to spawn (UAVAgent, NavAgent, …)

Methods

`set_location`(location)	Set where agent will be spawned.
`set_name`(name)	Set agents name
`set_rotation`(rotation)	Set where agent will be spawned.
`set_type`(agent_type)	Set the type of agent.

set_location(location)¶

Set where agent will be spawned.

Parameters:	location (`list` of `float`) – `[x, y, z]` location to spawn agent (see Coordinate System)

set_name(name)¶

Set agents name

Parameters:	name (`str`) – The name to set the agent to.

set_rotation(rotation)¶

Set where agent will be spawned.

Parameters:	rotation (`list` of `float`) – `[roll, pitch, yaw]` rotation for agent. (see Rotations)

set_type(agent_type)¶

Set the type of agent.

Parameters:	agent_type (`str` or `type`) – The type of agent to spawn.

class holodeck.command.TeleportCameraCommand(location, rotation)¶

Move the viewport camera (agent follower)

Parameters:	location (`list` of `float`) – The `[x, y, z]` location to give the camera (see Coordinate System) rotation (`list` of `float`) – The `[roll, pitch, yaw]` rotation to give the camera (see Rotations)