pyrobosim.core.robot.Robot.__init__

Robot.__init__(name: str = 'robot', pose: ~pyrobosim.utils.pose.Pose = Pose: [x=0.00, y=0.00, z=0.00, qw=1.000, qx=0.000, qy=-0.000, qz=0.000], radius: float = 0.0, height: float = 0.0, color: ~typing.Sequence[float] = (0.8, 0.0, 0.8), max_linear_velocity: float = inf, max_angular_velocity: float = inf, max_linear_acceleration: float = inf, max_angular_acceleration: float = inf, path_planner: ~pyrobosim.navigation.types.PathPlanner | None = None, path_executor: ~pyrobosim.navigation.types.PathExecutor | None = None, grasp_generator: ~pyrobosim.manipulation.grasping.GraspGenerator | None = None, sensors: dict[str, ~pyrobosim.sensors.types.Sensor] | None = None, start_sensor_threads: bool = True, partial_obs_objects: bool = False, partial_obs_hallways: bool = False, action_execution_options: dict[str, ~pyrobosim.planning.actions.ExecutionOptions] = {}, initial_battery_level: float = 100.0) → None

Creates a robot instance.

Parameters:

  • name – Robot name.

  • pose – Robot initial pose.

  • radius – Robot radius, in meters.

  • height – Robot height, in meters.

  • color –

    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 – The maximum linear velocity magnitude, in m/s.

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

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

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

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

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

  • grasp_generator – Grasp generator for manipulating objects.

  • sensors – Optional map of names to sensors (see e.g., pyrobosim.sensors.lidar.Lidar2D).

  • start_sensor_threads – If True, automatically starts the sensor threads.

  • partial_obs_objects – If False, the robot can access all objects in the world. If True, it must detect new objects at specific locations.

  • partial_obs_hallways – If True, robot doesn’t know the ground truth for the world’s hallway states, and assumes all are open at the start unless sensed otherwise.

  • action_execution_options – A dictionary of action names and their execution options. This defines properties such as delays and nondeterminism.

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