pyrobosim.core.robot.Robot

class pyrobosim.core.robot.Robot(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)

Representation of a robot in the world.

Methods

`__init__`([name, pose, y, z, qw, qx, qy, qz, ...])	Creates a robot instance.
`at_object_spawn`()	Checks whether a robot is at an object spawn.
`at_openable_location`()	Checks whether the robot is at an openable location.
`cancel_actions`()	Cancels any currently running actions for the robot.
`close_location`()	Closes the robot's current location, if available.
`detect_objects`([target_object])	Detects all objects at the robot's current location.
`execute_action`(action)	Executes an action, specified as a `pyrobosim.planning.actions.TaskAction` object.
`execute_plan`(plan[, delay])	Executes a task plan, specified as a `pyrobosim.planning.actions.TaskPlan` object.
`follow_path`(path[, realtime_factor])	Follows a specified path using the attached path executor.
`get_known_objects`()	Returns a list of objects known by the robot.
`get_pose`()	Gets the robot pose.
`is_in_collision`()	Checks whether the last step of dynamics put the robot in collision.
`is_moving`()	Checks whether the robot is moving, either due to a navigation action or velocity commands.
`navigate`([start, goal, path, realtime_factor])	Executes a navigation task, which combines path planning and following.
`open_location`()	Opens the robot's current location, if available.
`pick_object`(obj_query[, grasp_pose])	Picks up an object in the world given an object and/or location query.
`place_object`([pose])	Places an object in a target location and (optionally) pose.
`plan_path`([start, goal])	Plans a path to a goal position.
`print_details`()	Prints string with details.
`reset_path_planner`()	Resets the robot's path planner, if available.
`set_path_executor`(path_executor)	Sets a path executor for navigation.
`set_path_planner`(path_planner)	Sets a path planner for navigation.
`set_pose`(pose)	Sets the robot pose.
`to_dict`()	Serializes the robot to a dictionary.