Add Support for Multiple Color Formats in Room Class

pyrobosim/examples/demo.py

@@ -38,16 +38,24 @@ def create_world(multirobot=False):
     world.add_room(
         name="kitchen",
         footprint=r1coords,
-        color=[1, 0, 0],
+        color="red",
         nav_poses=[Pose(x=0.75, y=0.75, z=0.0, yaw=0.0)],
     )
     r2coords = [(1.75, 2.5), (3.5, 2.5), (3.5, 4), (1.75, 4)]
-    world.add_room(name="bedroom", footprint=r2coords, color=[0, 0.6, 0])
+    world.add_room(name="bedroom", footprint=r2coords, color="#009900")
     r3coords = [(-1, 1), (-1, 3.5), (-3.0, 3.5), (-2.5, 1)]
-    world.add_room(name="bathroom", footprint=r3coords, color=[0, 0, 0.6])
+    world.add_room(
+        name="bathroom",
+        footprint=r3coords,
+        color=[0.0, 0.0, 0.6],
+    )
 
     # Add hallways between the rooms
-    world.add_hallway(room_start="kitchen", room_end="bathroom", width=0.7)
+    world.add_hallway(
+        room_start="kitchen",
+        room_end="bathroom",
+        width=0.7,
+    )
     world.add_hallway(
         room_start="bathroom",
         room_end="bedroom",

pyrobosim/pyrobosim/core/room.py

@@ -6,9 +6,12 @@
 from shapely.geometry import Polygon
 from shapely.plotting import patch_from_polygon
 
+from matplotlib.colors import CSS4_COLORS, to_rgb
+
 from ..utils.pose import Pose
 from ..utils.polygon import inflate_polygon, polygon_and_height_from_footprint
 from ..utils.search_graph import Node
+from ..utils.general import parse_color
 
 
 class Room:
@@ -30,8 +33,11 @@ def __init__(
         :type name: str, optional
         :param footprint: Point list or Shapely polygon describing the room 2D footprint (required).
         :type footprint: :class:`shapely.geometry.Polygon`/list[:class:`pyrobosim.utils.pose.Pose`]
-        :param color: Visualization color as an (R, G, B) tuple in the range (0.0, 1.0)
-        :type color: (float, float, float), optional
+        :param color: Visualization color. Input can be
+                      - an (R, G, B) tuple, list in the range (0.0, 1.0),
+                      - a string (e.g., "red")
+                      - a hexadecimal (e.g., "#FF0000").
+        :type color: list[float] | tuple[float, float, float] | str
         :param wall_width: Width of room walls, in meters.
         :type wall_width: float, optional
         :param nav_poses: List of navigation poses in the room. If not specified, defaults to the centroid.
@@ -41,7 +47,7 @@ def __init__(
         """
         self.name = name
         self.wall_width = wall_width
-        self.viz_color = color
+        self.viz_color = parse_color(color)
 
         # Entities associated with the room
         self.hallways = []

pyrobosim/pyrobosim/data/test_world.yaml

@@ -74,15 +74,15 @@ rooms:
           x: 0.75
           y: 0.5
     wall_width: 0.2
-    color: [1, 0, 0]
+    color: "red"
 
   - name: bedroom
     footprint:
       type: box
       dims: [1.75, 1.5]
       offset: [2.625, 3.25]
     wall_width: 0.2
-    color: [0, 0.6, 0]
+    color: "#009900"
 
   - name: bathroom
     footprint:

pyrobosim/pyrobosim/data/test_world_multirobot.yaml

@@ -106,15 +106,15 @@ rooms:
           x: 0.75
           y: 0.5
     wall_width: 0.2
-    color: [1, 0, 0]
+    color: "red"
 
   - name: bedroom
     footprint:
       type: box
       dims: [1.75, 1.5]
       offset: [2.625, 3.25]
     wall_width: 0.2
-    color: [0, 0.6, 0]
+    color: "#009900"
 
   - name: bathroom
     footprint:

pyrobosim/pyrobosim/utils/general.py

@@ -2,6 +2,8 @@
 
 import os
 import yaml
+import re
+from matplotlib.colors import CSS4_COLORS, to_rgb
 
 
 def get_data_folder():
@@ -99,3 +101,30 @@ def replace_special_yaml_tokens(in_text, root_dir=None):
     out_text = out_text.replace("$PWD", root_dir)
 
     return out_text
+
+
+def parse_color(color):
+    """
+    Parses a color input and returns an RGB tuple.
+
+    :param color: Input color as a list, tuple, string, or hexadecimal.
+    :type color: list[float] | tuple[float, float, float] | str
+    :return: RGB tuple in range (0.0, 1.0).
+    :rtype: tuple[float, float, float]
+    """
+    if isinstance(color, (list, tuple)) and len(color) == 3:
+        return tuple(color)
+
+    if isinstance(color, str):
+        if color in CSS4_COLORS:
+            return to_rgb(CSS4_COLORS[color])
+
+        hex_pattern = r"^#(?:[0-9a-fA-F]{3}){1,2}$"
+        if re.match(hex_pattern, color):
+            return to_rgb(color)
+
+        raise ValueError(f"Invalid color string or hex: {color}")
+
+    raise ValueError(
+        f"Unsupported color format. Supported types are list[float] and string"
+    )

pyrobosim/test/core/test_room.py

@@ -5,6 +5,7 @@
 """
 
 import pytest
+
 from pyrobosim.core import Room, World
 
 
@@ -32,7 +33,7 @@ def test_add_room_to_world_from_args(self):
         world = World()
 
         coords = [(-1.0, -1.0), (1.0, -1.0), (1.0, 1.0), (-1.0, 1.0)]
-        color = [1.0, 0.0, 0.1]
+        color = (1.0, 0.0, 0.1)
         result = world.add_room(footprint=coords, color=color)
 
         assert isinstance(result, Room)

pyrobosim/test/core/test_yaml_utils.py

@@ -124,14 +124,14 @@ def test_create_rooms_from_yaml():
         poly, _ = polygon_and_height_from_footprint(rooms_dict["rooms"][0]["footprint"])
         assert loader.world.rooms[0].polygon == poly
         assert loader.world.rooms[0].wall_width == 0.2
-        assert loader.world.rooms[0].viz_color == [1, 0, 0]
+        assert loader.world.rooms[0].viz_color == (1, 0, 0)
         assert loader.world.rooms[0].nav_poses == [Pose.from_list([0.75, 0.5, 0.0])]
 
         assert loader.world.rooms[1].name == "bedroom"
         poly, _ = polygon_and_height_from_footprint(rooms_dict["rooms"][1]["footprint"])
         assert loader.world.rooms[1].polygon == poly
         assert loader.world.rooms[1].wall_width == 0.2
-        assert loader.world.rooms[1].viz_color == [0, 1, 0]
+        assert loader.world.rooms[1].viz_color == (0, 1, 0)
         assert loader.world.rooms[1].nav_poses == [
             Pose.from_list(loader.world.rooms[1].centroid)
         ]

pyrobosim/test/utils/test_general_utils.py

@@ -0,0 +1,43 @@
+import pytest
+from matplotlib.colors import CSS4_COLORS, to_rgb
+
+from pyrobosim.utils.general import parse_color
+
+
+def test_parse_color():
+    """Testing parse color with different input color formats"""
+    # Test with RGB list
+    color_rgb_list = (1.0, 0.0, 0.0)
+    assert parse_color([1.0, 0.0, 0.0]) == color_rgb_list
+
+    # Test with RGB tuple
+    color_rgb_tuple = (0.0, 1.0, 0.0)
+    assert parse_color((0.0, 1.0, 0.0)) == color_rgb_tuple
+
+    # Test with named color
+    color_by_name = "red"
+    assert parse_color("red") == to_rgb(CSS4_COLORS[color_by_name])
+
+    # Test with hexadecimal color format
+    color_hex = "#00FFFF"
+    assert parse_color("#00FFFF") == to_rgb(color_hex)
+
+    # Test with invalid RGB list
+    with pytest.raises(ValueError):
+        parse_color([1.0, 0.0])
+
+    # Test with invalid RGB tuple
+    with pytest.raises(ValueError):
+        parse_color((1.0, 0.0))
+
+    # Test with invalid named color
+    with pytest.raises(ValueError):
+        parse_color("notavalidcolor")
+
+    # Test with invalid hexadecimal color format
+    with pytest.raises(ValueError):
+        parse_color("#ZZZ")
+
+    # Test with unsupported input type
+    with pytest.raises(ValueError):
+        parse_color(12345)