pyrobosim.core.robot.Robot.__init__

Robot.__init__(name='robot', pose=Pose: [x=0.00, y=0.00, z=0.00, qw=1.000, qx=0.000, qy=-0.000, qz=0.000], radius=0.0, height=0.0, color=(0.8, 0.0, 0.8), max_linear_velocity=inf, max_angular_velocity=inf, max_linear_acceleration=inf, max_angular_acceleration=inf, path_planner=None, path_executor=None, grasp_generator=None, partial_observability=False, action_execution_options={}, initial_battery_level=100.0)

Creates a robot instance.

Parameters:

  • name (str, optional) – Robot name.

  • pose (pyrobosim.utils.pose.Pose) – Robot initial pose.

  • radius (float, optional) – Robot radius, in meters.

  • height (float, optional) – Robot height, in meters.

  • color (list[float] | tuple[float, float, float] | str) –

    Visualization color. Input can be:

    • an (R, G, B) tuple or list in the range (0.0, 1.0).

    • a string (e.g., “red”).

    • a hexadecimal string (e.g., “#FF0000”).

  • max_linear_velocity (float) – The maximum linear velocity magnitude, in m/s.

  • max_angular_velocity (float) – The maximum angular velocity magnitude, in rad/s.

  • max_linear_acceleration (float) – The maximum linear acceleration magnitude, in m/s^2.

  • max_angular_acceleration – The maximum angular acceleration magnitude, in rad/s^2.

  • path_planner (PathPlanner, optional) – Path planner for navigation (see e.g., pyrobosim.navigation.rrt.RRTPlanner).

  • path_executor (PathExecutor, optional) – Path executor for navigation (see e.g., pyrobosim.navigation.execution.ConstantVelocityExecutor).

  • grasp_generator (pyrobosim.manipulation.grasping.GraspGenerator, optional) – Grasp generator for manipulating objects.

  • partial_observability (bool, optional) – If False, the robot can access all objects in the world. If True, it must detect new objects at specific locations.

  • action_execution_options (dict[str, pyrobosim.planning.actions.ExecutionOptions]) – A dictionary of action names and their execution options. This defines properties such as delays and nondeterminism.

  • initial_battery_level (float) – The initial battery charge, from 0 to 100.