Usage

pyrobosim offers a standalone Python API for modeling worlds and simulating robots acting within those worlds. Optionally, you can also launch this tool with:

• A ROS 2 interface that offers topics, services, and actions to interact with the world.

• A PySide6 based GUI for visualizing the world.

Refer to the following pages for different types of usage guides.

• Basic Usage
• Robot Actions
• Robot Dynamics
• Multirobot Environments
• Path Planners
• Task and Motion Planning
• Geometry Conventions