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Add function to filter dotbots on get #203

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7ca99a0
feat: add function to filter dotbots on get
geonnave Jan 28, 2026
5e6d670
example/charging: tweak control loop params
geonnave Jan 28, 2026
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23 changes: 17 additions & 6 deletions dotbot/examples/charging_station.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
from dotbot.websocket import DotBotWsClient

THRESHOLD = 30 # Acceptable distance error to consider a waypoint reached
DT = 0.05 # Control loop period (seconds)
DT = 0.13 # Control loop period (seconds)

# TODO: Measure these values for real dotbots
BOT_RADIUS = 0.03 # Physical radius of a DotBot (unit), used for collision avoidance
Expand All @@ -40,6 +40,15 @@
(PARK_X, PARK_Y) = (0.8, 0.1) # World-frame (X, Y) position of the parking area origin
PARK_SPACING = 0.1 # Spacing between parked bots (along Y axis)

DOTBOT_ADDR = None


async def get_dotbots(client: RestClient) -> List[DotBotModel]:
dotbots = await client.fetch_active_dotbots()
if DOTBOT_ADDR is not None:
dotbots = [b for b in dotbots if b.address.lower() == DOTBOT_ADDR.lower()]
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@aabadie aabadie Jan 28, 2026

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Can you describe the logic here? Normally each dotbot has a unique address so as I understand this code, you are limiting to a single dotbot and using a list comprehension for that makes no sense.

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@geonnave geonnave Jan 28, 2026

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This is a quick test while we debug stuff onsite.

It gives ability for both me and William try different control loops in different robots at the same time.

return dotbots


async def queue_robots(
client: RestClient,
Expand All @@ -57,7 +66,7 @@ async def charge_robots(
ws: DotBotWsClient,
params: OrcaParams,
) -> None:
dotbots = await client.fetch_active_dotbots()
dotbots = await get_dotbots(client)
remaining = order_bots(dotbots, QUEUE_HEAD_X, QUEUE_HEAD_Y)
total_count = len(dotbots)
# The head of the remaining should park
Expand All @@ -66,7 +75,7 @@ async def charge_robots(
parked_count = total_count - len(remaining)

while remaining or park_dotbot is not None:
dotbots = await client.fetch_active_dotbots()
dotbots = await get_dotbots(client)

dotbots = [b for b in dotbots if b.address in {r.address for r in remaining}]
remaining = order_bots(dotbots, QUEUE_HEAD_X, QUEUE_HEAD_Y)
Expand Down Expand Up @@ -133,7 +142,7 @@ async def send_to_goal(
params: OrcaParams,
) -> None:
while True:
dotbots = await client.fetch_active_dotbots()
dotbots = await get_dotbots(client)
agents: List[Agent] = []

for bot in dotbots:
Expand Down Expand Up @@ -161,7 +170,7 @@ async def send_to_goal(
orca_vel = await compute_orca_velocity(
agent, neighbors=neighbors, params=params
)
step = Vec2(x=orca_vel.x, y=orca_vel.y)
step = Vec2(x=orca_vel.x*1.4, y=orca_vel.y*1.4)

# ---- CLAMP STEP TO GOAL DISTANCE ----
goal = goals.get(agent.id)
Expand Down Expand Up @@ -309,8 +318,10 @@ async def main() -> None:
url = os.getenv("DOTBOT_CONTROLLER_URL", "localhost")
port = os.getenv("DOTBOT_CONTROLLER_PORT", "8000")
use_https = os.getenv("DOTBOT_CONTROLLER_USE_HTTPS", False)
global DOTBOT_ADDR
DOTBOT_ADDR = os.getenv("DOTBOT_ADDR", None)
async with rest_client(url, port, use_https) as client:
dotbots = await client.fetch_active_dotbots()
dotbots = await get_dotbots(client)

ws = DotBotWsClient(url, port)
await ws.connect()
Expand Down
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