irsim.world.world3d
===================

.. py:module:: irsim.world.world3d


Classes
-------

.. autoapisummary::

   irsim.world.world3d.World3D


Module Contents
---------------

.. py:class:: World3D(name: str, depth: float = 10.0, offset: list[float] | None = None, **kwargs: Any)

   Bases: :py:obj:`irsim.world.world.World`


   Represents the main simulation environment, managing objects and maps.

   .. attribute:: name

      Name of the world.

      :type: str

   .. attribute:: height

      Height of the world.

      :type: float

   .. attribute:: width

      Width of the world.

      :type: float

   .. attribute:: step_time

      Time interval between steps.

      :type: float

   .. attribute:: sample_time

      Time interval between samples.

      :type: float

   .. attribute:: offset

      Offset for the world's position.

      :type: list

   .. attribute:: control_mode

      Control mode ('auto' or 'keyboard').

      :type: str

   .. attribute:: collision_mode

      Collision mode ('stop',  , 'unobstructed').

      :type: str

   .. attribute:: obstacle_map

      ``None``, image path (str), grid ndarray, or generator spec dict.

   .. attribute:: mdownsample

      Downsampling factor for the obstacle map.

      :type: int

   .. attribute:: status

      Status of the world and objects.

   .. attribute:: plot

      Plot configuration for the world.

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

   :param name: World name or YAML file path.
   :type name: str
   :param depth: Z-depth of the world (range in z). Default 10.0.
   :type depth: float
   :param offset: [x, y, z] world offset. If a 2D
                  [x, y] is provided, z defaults to 0.
   :type offset: list[float] | None
   :param \*\*kwargs: Forwarded to the base ``World`` constructor.


   .. py:attribute:: depth
      :value: 10.0



   .. py:attribute:: offset
      :value: None



   .. py:attribute:: z_range