pyrobosim.core.robot.Robot

class pyrobosim.core.robot.Robot(name: str = 'robot', 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], radius: float = 0.0, height: float = 0.0, color: ~typing.Sequence[float] = (0.8, 0.0, 0.8), max_linear_velocity: float = inf, max_angular_velocity: float = inf, max_linear_acceleration: float = inf, max_angular_acceleration: float = inf, path_planner: ~pyrobosim.navigation.types.PathPlanner | None = None, path_executor: ~pyrobosim.navigation.types.PathExecutor | None = None, grasp_generator: ~pyrobosim.manipulation.grasping.GraspGenerator | None = None, sensors: dict[str, ~pyrobosim.sensors.types.Sensor] | None = None, start_sensor_threads: bool = True, partial_obs_objects: bool = False, partial_obs_hallways: bool = False, action_execution_options: dict[str, ~pyrobosim.planning.actions.ExecutionOptions] = {}, initial_battery_level: float = 100.0)

Representation of a robot in the world.

Methods

__init__(name, pose[, y, z, qw, qx, qy, qz])	Creates a robot instance.
at_object_spawn()	Checks whether a robot is at an object spawn.
at_openable_location()	Checks whether the robot is at an openable location.
cancel_actions()	Cancels any currently running actions for the robot.
close_location()	Closes the robot's current location, if available.
detect_objects([target_object])	Detects all objects at the robot's current location.
do_start_sensor_threads()	Starts the robot's sensor threads.
execute_action(action[, realtime_factor])	Executes an action, specified as a pyrobosim.planning.actions.TaskAction object.
execute_plan(plan[, delay, realtime_factor])	Executes a task plan, specified as a pyrobosim.planning.actions.TaskPlan object.
follow_path(path[, realtime_factor])	Follows a specified path using the attached path executor.
get_known_closed_hallways()	Returns a list of closed hallway recorded by the robot.
get_known_objects()	Returns a list of objects known by the robot.
get_pose()	Gets the robot pose.
is_busy()	Checks whether the robot is currently executing an action or plan.
is_in_collision([pose])	Checks whether the last step of dynamics put the robot in collision.
is_moving()	Checks whether the robot is moving, either due to a navigation action or velocity commands.
navigate([start, goal, path, realtime_factor])	Executes a navigation task, which combines path planning and following.
open_location()	Opens the robot's current location, if available.
pick_object(obj_query[, grasp_pose])	Picks up an object in the world given an object and/or location query.
place_object([pose])	Places an object in a target location and (optionally) pose.
plan_path([start, goal])	Plans a path to a goal position.
print_details()	Prints string with details.
reset_path_planner()	Resets the robot's path planner, if available.
set_path_executor(path_executor)	Sets a path executor for navigation.
set_path_planner(path_planner)	Sets a path planner for navigation.
set_pose(pose)	Sets the robot pose.
set_sensors(sensors)	Sets a list of sensors.
stop_sensor_threads()	Stops the robot's active sensor threads.
to_dict()	Serializes the robot to a dictionary.
update_polygons()	Updates the world's collision polygons when hallway state changes.

Attributes

viz_color

The color of the visualization polygon patch and text.