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)

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 (tuple[float] / str, optional) – Robot color, as an RGB tuple or string.

  • 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.