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.

name#

Name of the world.

Type:

str

height#

Height of the world.

Type:

float

width#

Width of the world.

Type:

float

step_time#

Time interval between steps.

Type:

float

sample_time#

Time interval between samples.

Type:

float

offset#

Offset for the world’s position.

Type:

list

control_mode#

Control mode (‘auto’ or ‘keyboard’).

Type:

str

collision_mode#

Collision mode (‘stop’, , ‘unobstructed’).

Type:

str

obstacle_map#

Image file for the obstacle map.

mdownsample#

Downsampling factor for the obstacle map.

Type:

int

status#

Status of the world and objects.

plot#

Plot configuration for the world.

Initialize the world object.

Parameters:

  • 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 – Image file for the obstacle map.

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

  • plot (dict) – Plot configuration.

  • status (str) – Initial simulation status.

depth = 10.0#
offset = None#
z_range#