pyrobosim.core.robot.Robot.execute_plan

Robot.execute_plan(plan: TaskPlan, delay: float = 0.5, realtime_factor: float = 1.0) → tuple[ExecutionResult, int]

Executes a task plan, specified as a pyrobosim.planning.actions.TaskPlan object.

Parameters:

• plan – Task plan to execute.

• delay – Artificial delay between actions for visualization.

• realtime_factor – A multiplier on the execution time relative to real time. Defaults to 1.0. If negative, runs as quickly as possible.

Returns:

A tuple containing an execution result and the number of actions completed.