pyrobosim.core.objects.Object

class pyrobosim.core.objects.Object(*, name: str, category: str, parent: ~pyrobosim.core.types.Entity | None = None, 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], inflation_radius: float = 0.0, color: ~typing.Sequence[float] | str | None = None)

Represents an object in the world.

Methods

__init__(*, name, category, parent, pose[, ...])	Creates an object instance.
add_metadata(filename)	Add object metadata from a new file to existing metadata.
clear_metadata()	Clear out old object metadata.
create_grasp_cuboid()	Fits a grasp cuboid from the object footprint and height.
create_polygons([inflation_radius])	Creates collision and visualization polygons for the object.
get_footprint()	Returns the object footprint coordinates.
get_grasp_cuboid_pose()	Gets the cuboid pose with respect to the reference world frame.
print_details()	Prints string with details.
set_pose(pose)	Sets the pose of an object, accounting for any height offsets in the target location, and update the corresponding object polygons.
to_dict()	Serializes the object 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 object.

Attributes

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