pyrobosim.core.room.Room.__init__

Room.__init__(name=None, footprint=[], color=[0.4, 0.4, 0.4], wall_width=0.2, pose=None, nav_poses=None, height=0.0)

Creates a Room instance.

Parameters:

• name (str, optional) – Room name.

• footprint (shapely.geometry.Polygon/list[pyrobosim.utils.pose.Pose]) – Point list or Shapely polygon describing the room 2D footprint (required).

• 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”).

• wall_width (float, optional) – Width of room walls, in meters.

• pose (pyrobosim.utils.pose.Pose, optional) – Pose of the room. This transforms the specified footprint. If set to None, the pose will be the centroid of the room polygon.

• nav_poses (list[pyrobosim.utils.pose.Pose]) – List of navigation poses in the room. If not specified, defaults to the centroid.

• height (float, optional) – Height of room.