shasta.world#

Module Contents#

Classes#

World

class World(config)[source]#
load_world_model(read_path)[source]#

Load the URDF model

Parameters:

read_path (str) – The path to the URDF model

change_camera_position(camera_distance=150.0, camera_yaw=0.0, camera_pitch=-89.999, camera_target_position=[0, 30, 0])[source]#

Change the world camera position

Parameters:

  • camera_distance (float, optional) – Camera distance from target, by default 150

  • camera_yaw (float, optional) – Camera yaw, by default 0

  • camera_pitch (float, optional) – Camera pitch, by default -89.999

  • camera_target_position (list, optional) – Camera target position, by default [0, 30, 0]

Return type:

None

spawn_actor(actor, spawn_point)[source]#

Spawn the actor at a given point

Parameters:

  • actor (object) – An actor to spawm

  • spawn_point (array) – Spawn point

Return type:

None