irsim.world.world3d#
Classes#
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.WorldRepresents 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#
None, image path (str), grid ndarray, or generator spec dict.
- mdownsample#
Downsampling factor for the obstacle map.
- Type:
int
- 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
Worldconstructor.
- depth = 10.0#
- offset = None#
- z_range#