irsim.world.robots.robot_omni
=============================

.. py:module:: irsim.world.robots.robot_omni


Classes
-------

.. autoapisummary::

   irsim.world.robots.robot_omni.RobotOmni


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

.. py:class:: RobotOmni(color: str = 'g', state_dim: int = 3, **kwargs: Any)

   Bases: :py:obj:`irsim.world.object_base.ObjectBase`


   Omnidirectional robot.

   .. deprecated::
       Use ``ObjectBase`` with ``kinematics={'name': 'omni'}`` directly.
       This subclass will be removed in a future version.

   Initialize an ObjectBase instance.

   This method sets up a new ObjectBase object with the specified parameters, initializing its
   geometry, kinematics, behaviors, sensors, and other properties relevant to simulation.

   The initialization process includes:
   - Setting up geometry handlers and collision detection
   - Configuring kinematics models for movement
   - Initializing state vectors and goal management
   - Setting up behaviors and sensor systems
   - Configuring visualization and plotting options

   .. note::

      All parameters are documented in the class docstring above. Refer to the
      :py:class:`ObjectBase` class documentation for detailed parameter descriptions.

   :raises ValueError: If dimension parameters do not match the provided shapes or
       if input parameters are invalid.