pyrobosim.core.robot.Robot

class pyrobosim.core.robot.Robot(name='robot', pose=Pose: [x=0.00, y=0.00, z=0.00, qw=1.000, qx=0.000, qy=-0.000, qz=0.000], radius=0.0, height=0.0, color=(0.8, 0.0, 0.8), max_linear_velocity=inf, max_angular_velocity=inf, max_linear_acceleration=inf, max_angular_acceleration=inf, path_planner=None, path_executor=None, grasp_generator=None)

Representation of a robot in the world.

Methods

__init__([name, pose, y, z, qw, qx, qy, qz, ...])	Creates a robot instance.
execute_action(action[, blocking])	Executes an action, specified as a pyrobosim.planning.actions.TaskAction object.
execute_plan(plan[, blocking, delay])	Executes a task plan, specified as a pyrobosim.planning.actions.TaskPlan object.
follow_path(path[, target_location, ...])	Follows a specified path using the attached path executor.
get_pose()	Gets the robot pose.
is_in_collision()	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.
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.
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.