irsim.world.world3d#

Classes#

World3D

Represents the main simulation environment, managing objects and maps.

Module Contents#

class irsim.world.world3d.World3D(name: str, depth: float = 10.0, offset: list[float] | None = None, **kwargs: Any)[source]#

Bases: irsim.world.world.World

Represents the main simulation environment, managing objects and maps.

Variables:

  • name (str) – Name of the world.

  • height (float) – Height of the world.

  • width (float) – Width of the world.

  • step_time (float) – Time interval between steps.

  • sample_time (float) – Time interval between samples.

  • offset (list) – Offset for the world’s position.

  • control_mode (str) – Control mode (‘auto’ or ‘keyboard’).

  • collision_mode (str) – Collision mode (‘stop’, , ‘unobstructed’).

  • obstacle_map – None, image path (str), grid ndarray, or generator spec dict.

  • mdownsample (int) – Downsampling factor for the obstacle map.

  • status – Status of the world and objects.

  • plot – Plot configuration for the world.

Initialize a 3D world extending the 2D world with depth.

Parameters:

  • name (str) – World name or YAML file path.

  • depth (float) – Z-depth of the world (range in z). Default 10.0.

  • offset (list[float] | None) – [x, y, z] world offset. If a 2D [x, y] is provided, z defaults to 0.

  • **kwargs – Forwarded to the base World constructor.

depth = 10.0#
offset = None#
z_range#