pyrobosim.core.objects.Object
- class pyrobosim.core.objects.Object(name=None, category=None, parent=None, pose=None, inflation_radius=0.0, color=None)
Represents an object in the world.
Methods
__init__
([name, category, parent, pose, ...])Creates an object instance.
Fits a grasp cuboid from the object footprint and height.
create_polygons
([inflation_radius])Creates collision and visualization polygons for the object.
Returns the object footprint coordinates.
Gets the cuboid pose with respect to the reference world frame.
Returns the name of the room containing the object.
Prints string with details.
set_metadata
(filename)Assign a metadata file to the
pyrobosim.core.objects.Object
class.set_pose
(pose)Sets the pose of an object, accounting for any height offsets in the target location, and update the corresponding object polygons.
update_collision_polygon
([inflation_radius])Updates the collision polygon using the specified inflation radius.
Updates the visualization polygon for the object.
Attributes
Vertical height of object.
Visualization color (RGB tuple).