Marxbot

class pyenki.Marxbot

Bases: DifferentialWheeled, PhysicalObject

A DifferentialWheeled Marxbot robot.

The robot has a planar, omni-directional scanner, placed centrally at a height of 11 cm, which detects surrounding objects (distance and color).

Example:

>>> import pyenki
>>> # create a world surrondded by a cylindrical wall.
>>> world = pyenki.World(r=20.0, walls_color=pyenki.Color(0.8, 0.2, 0.1))
>>> marxbot = pyenki.Marxbot()
>>> world.add_object(marxbot)
>>> marxbot.position = (10.0, 0.0)
>>> marxbot.angle = 0.0
>>> # Spin the robot on itself
>>> marxbot.left_wheel_target_speed = 5.0
>>> marxbot.right_wheel_target_speed = -5.0
>>> world.step(0.1)
>>> # Read the omnidirectional rgbd camera
>>> # Distances
>>> marxbot.scanner_distances
array([30.        , 29.73731892, ...
>>> # Image
>>> marxbot.scanner_image
array([[0.8, 0.2, 0.1], ...

scanner_range

the range of the scanner. Default is infinite.

Type:

float

scanner_distances

An array of 180 radial distances, ordered from -180 degrees to 180 degrees, in centimeters (readonly).

Type:

Array1D

scanner_image

An rgba array between 0 and 1 of shape (180, 4) (readonly).

Type:

Array2D

__init__() → None