pyrobosim.core.locations.Location

class pyrobosim.core.locations.Location(*, name: str, category: str, parent: ~pyrobosim.core.types.Entity, 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], color: ~typing.Sequence[float] | str | None = None, is_open: bool = True, is_locked: bool = False, is_charger: bool = False)

Representation of a location in the world.

Methods

__init__(*, name, category, parent, pose[, ...])	Creates a location instance.
add_graph_nodes()	Creates graph nodes for searching.
add_metadata(filename)	Add location metadata from a new file to existing metadata.
clear_metadata()	Clear out old location metadata.
create_polygons([inflation_radius])	Creates collision and visualization polygons for the location.
create_spawn_locations()	Creates the object spawn locations at this location.
print_details()	Prints string with details.
set_pose(pose)	Sets the pose of a location, accounting for its navigation poses and object spawns.
to_dict()	Serializes the location to a dictionary.
update_collision_polygon([inflation_radius])	Updates the collision polygon using the specified inflation radius.
update_visualization_polygon()	Updates the visualization polygon for the location.

Attributes

height	Vertical height of location.
metadata	Metadata for location categories.
viz_color	Visualization color (RGB tuple).