Simulate robot battery usage and charging

docs/source/usage/robot_actions.rst

@@ -94,7 +94,7 @@ Simulating Action Execution
 By default, all robots can execute their actions perfectly.
 However, actions can still fail due to planning errors or because they are infeasible (e.g, picking an object while holding another).
 
-You can use the action's *execution options* to modify the behavior of your robot to simulate delays or failures.
+You can use the action's *execution options* to modify the behavior of your robot to simulate delays, failures, or battery consumption.
 For example,
 
 .. code-block:: python
@@ -104,14 +104,18 @@ For example,
 
     robot = Robot(
         name="robot0",
+        initial_battery_level=100.0,
         action_execution_options = {
             "navigate": ExecutionOptions(
-                delay=0.1,
                 success_probability=0.5,
-                rng_seed=1234
+                rng_seed=1234,
+                battery_usage=1.0,
+            ),
+            "pick": ExecutionOptions(
+                delay=1.0,
+                success_probability=0.75,
+                battery_usage=5.0
             ),
-            "pick": ExecutionOptions(delay=1.0),
-            "place": ExecutionOptions(success_probability=0.75),
         },
     )
 

docs/source/yaml/location_schema.rst

@@ -28,6 +28,7 @@ The generic location schema, where ``<angle brackets>`` are placeholders, is:
      color: [<r>, <g>, <b>]
      is_open: True
      is_locked: False
+     is_charger: False
 
 
 Examples

docs/source/yaml/world_schema.rst

@@ -24,6 +24,7 @@ The world schema looks as follows, where ``<angle brackets>`` are placeholders:
        height: <value>  # Robot height
        location: <loc_name>  # Initial location
        pose: [<x>, <y>, <z>, <yaw>]  # Initial pose, if not specified will sample
+       initial_battery_level: 50.0
        # Dynamics limits
        max_linear_velocity: <value>
        max_angular_velocity: <value>
@@ -44,12 +45,15 @@ The world schema looks as follows, where ``<angle brackets>`` are placeholders:
        action_execution_options:
          navigate:
            delay: 0.1
-           success_probability: 0.5
-           rng_seed: 1234
+           success_probability: 0.9
+           rng_seed: 42
+           battery_usage: 1.0
          pick:
            delay: 1.0
+           battery_usage: 5.0
          place:
            success_probability: 0.75
+           battery_usage: 5.0
      - ...
      - ...
 
@@ -88,6 +92,7 @@ The world schema looks as follows, where ``<angle brackets>`` are placeholders:
        pose: [<x>, <y>, <z>, <yaw>]  # If not specified, will sample
        is_open: true  # Can only pick, place, and detect if open
        is_locked: true  # Can only open and close if unlocked
+       is_charger: false  # Robots can charge at this location
      - ...
      - ...
 

pyrobosim/pyrobosim/core/locations.py

@@ -41,6 +41,7 @@ def __init__(
         color=None,
         is_open=True,
         is_locked=False,
+        is_charger=False,
     ):
         """
         Creates a location instance.
@@ -60,6 +61,8 @@ def __init__(
         :type is_open: bool, optional
         :param is_locked: If True, the location is locked, meaning it cannot be opened or closed.
         :type is_locked: bool, optional
+        :param is_charger: If True, the robot charges its battery at this location.
+        :type is_charger: bool, optional
         """
         # Validate input
         if parent is None:
@@ -73,6 +76,7 @@ def __init__(
         self.parent = parent
         self.is_open = is_open
         self.is_locked = is_locked
+        self.is_charger = is_charger
 
         self.metadata = Location.metadata.get(self.category)
         if not self.metadata: