Add Support for Multiple Color Formats in Hallway, Robot, Object and Location class.

pyrobosim/examples/demo.py

@@ -52,9 +52,7 @@ def create_world(multirobot=False):
 
     # Add hallways between the rooms
     world.add_hallway(
-        room_start="kitchen",
-        room_end="bathroom",
-        width=0.7,
+        room_start="kitchen", room_end="bathroom", width=0.7, color="#666666"
     )
     world.add_hallway(
         room_start="bathroom",
@@ -63,6 +61,7 @@ def create_world(multirobot=False):
         conn_method="angle",
         conn_angle=0,
         offset=0.8,
+        color="dimgray",
     )
     world.add_hallway(
         room_start="kitchen",
@@ -122,6 +121,7 @@ def create_world(multirobot=False):
         ),
         grasp_generator=GraspGenerator(grasp_props),
         partial_observability=args.partial_observability,
+        color="#CC00CC",
     )
     planner_config_rrt = {
         "world": world,

pyrobosim/pyrobosim/core/hallway.py

@@ -8,6 +8,7 @@
 from ..utils.pose import Pose, get_angle, get_bearing_range
 from ..utils.polygon import inflate_polygon
 from ..utils.search_graph import Node
+from ..utils.general import parse_color
 
 
 class Hallway:
@@ -54,8 +55,11 @@ def __init__(
         :type conn_angle: float, optional
         :param conn_points: If using "points" connection method, specifies the hallway points.
         :type conn_points: list[(float, float)], optional
-        :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 hallway walls, in meters.
         :type wall_width: float, optional
         :param is_open: If True, the hallway is open, otherwise it is closed.
@@ -78,7 +82,7 @@ def __init__(
         self.width = width
         self.wall_width = wall_width
         self.offset = offset
-        self.viz_color = color
+        self.viz_color = parse_color(color)
         self.graph_nodes = []
         self.nav_poses = []
         self.is_open = is_open

pyrobosim/pyrobosim/core/locations.py

@@ -3,7 +3,7 @@
 from shapely import intersects_xy
 from shapely.plotting import patch_from_polygon
 
-from ..utils.general import EntityMetadata, InvalidEntityCategoryException
+from ..utils.general import EntityMetadata, InvalidEntityCategoryException, parse_color
 from ..utils.pose import Pose, rot2d
 from ..utils.polygon import (
     inflate_polygon,
@@ -56,9 +56,12 @@ def __init__(
         :type pose: :class:`pyrobosim.utils.pose.Pose`
         :param parent: Parent of the location (typically a :class:`pyrobosim.core.room.Room`)
         :type parent: Entity
-        :param color: Visualization color as an (R, G, B) tuple in the range (0.0, 1.0).
-            If using a category with a defined color, this parameter overrides the category color.
-        :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").
+                      If using a category with a defined color, this parameter overrides the category color.
+        :type color: list[float] | tuple[float, float, float] | str
         :param is_open: If True, the location is open, otherwise it is closed.
         :type is_open: bool, optional
         :param is_locked: If True, the location is locked, meaning it cannot be opened or closed.
@@ -87,7 +90,7 @@ def __init__(
             )
 
         if color is not None:
-            self.viz_color = color
+            self.viz_color = parse_color(color)
         elif "color" in self.metadata:
             self.viz_color = self.metadata["color"]
 

pyrobosim/pyrobosim/core/objects.py

@@ -4,7 +4,7 @@
 from shapely.plotting import patch_from_polygon
 from scipy.spatial import ConvexHull
 
-from ..utils.general import EntityMetadata, InvalidEntityCategoryException
+from ..utils.general import EntityMetadata, InvalidEntityCategoryException, parse_color
 from ..utils.pose import Pose
 from ..utils.polygon import (
     convhull_to_rectangle,
@@ -57,9 +57,12 @@ def __init__(
         :type pose: :class:`pyrobosim.utils.pose.Pose`
         :param inflation_radius: Inflation radius for polygon collision checks.
         :type inflation_radius: float, optional
-        :param color: Visualization color as an (R, G, B) tuple in the range (0.0, 1.0).
-            If using a category with a defined color, this parameter overrides the category color.
-        :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").
+                      If using a category with a defined color, this parameter overrides the category color.
+        :type color: list[float] | tuple[float, float, float] | str
         """
         self.category = category
         self.name = name
@@ -77,7 +80,7 @@ def __init__(
             )
 
         if color is not None:
-            self.viz_color = color
+            self.viz_color = parse_color(color)
         elif "color" in self.metadata:
             self.viz_color = self.metadata["color"]
 

pyrobosim/pyrobosim/core/robot.py

@@ -13,6 +13,7 @@
 from ..utils.logging import create_logger
 from ..utils.polygon import sample_from_polygon, transform_polygon
 from ..utils.pose import Pose
+from ..utils.general import parse_color
 
 
 class Robot:
@@ -47,8 +48,11 @@ def __init__(
         :type radius: float, optional
         :param height: Robot height, in meters.
         :type height: float, optional
-        :param color: Robot color, as an RGB tuple or string.
-        :type color: tuple[float] / str, 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 max_linear_velocity: The maximum linear velocity magnitude, in m/s.
         :type max_linear_velocity: float
         :param max_angular_velocity: The maximum angular velocity magnitude, in rad/s.
@@ -78,7 +82,7 @@ def __init__(
         self.name = name
         self.radius = radius
         self.height = height
-        self.color = color
+        self.color = parse_color(color)
 
         if name == "world":
             raise ValueError("Robots cannot be named 'world'.")

pyrobosim/pyrobosim/data/test_world.yaml

@@ -20,6 +20,7 @@ robots:
   - name: robot
     radius: 0.1
     location: kitchen
+    color: "#CC00CC"
     pose:
       position:
         x: 0.0
@@ -104,6 +105,7 @@ hallways:
     conn_method: auto
     is_open: True
     is_locked: False
+    color: "#666666"
 
   - room_start: bathroom
     room_end: bedroom
@@ -113,6 +115,7 @@ hallways:
     offset: 0.8
     is_open: True
     is_locked: False
+    color: "dimgray"
 
   - room_start: kitchen
     room_end: bedroom

pyrobosim/pyrobosim/data/test_world_multirobot.yaml

@@ -39,7 +39,7 @@ robots:
       dt: 0.1
 
   - radius: 0.08
-    color: [0.8, 0.8, 0.0]
+    color: "#CCCC00"
     location: bathroom
     grasping:
       generator: parallel_grasp
@@ -136,6 +136,7 @@ hallways:
     conn_method: auto
     is_open: True
     is_locked: False
+    color: "#666666"
 
   - room_start: bathroom
     room_end: bedroom
@@ -145,6 +146,7 @@ hallways:
     offset: 0.8
     is_open: True
     is_locked: False
+    color: "dimgray"
 
   - room_start: kitchen
     room_end: bedroom

pyrobosim/pyrobosim/utils/general.py

@@ -112,8 +112,12 @@ def parse_color(color):
     :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, (list, tuple)):
+        if len(color) == 3:
+            return tuple(color)
+        raise ValueError(
+            "Insufficient elements. RGB color must have exactly 3 elements."
+        )
 
     if isinstance(color, str):
         if color in CSS4_COLORS:
@@ -123,8 +127,8 @@ def parse_color(color):
         if re.match(hex_pattern, color):
             return to_rgb(color)
 
-        raise ValueError(f"Invalid color string or hex: {color}")
+        raise ValueError(f"Invalid color name or hexadecimal value: {color}.")
 
     raise ValueError(
-        f"Unsupported color format. Supported types are list[float] and string"
+        "Unsupported input type. Expected a list, tuple, or string representing a color."
     )

pyrobosim/test/core/test_yaml_utils.py

@@ -170,7 +170,7 @@ def test_create_hallways_from_yaml():
         assert loader.world.hallways[0].room_end.name == "bedroom"
         assert loader.world.hallways[0].width == 0.75
         assert loader.world.hallways[0].wall_width == 0.18
-        assert loader.world.hallways[0].viz_color == [0.5, 0.5, 0.5]
+        assert loader.world.hallways[0].viz_color == (0.5, 0.5, 0.5)
 
     @staticmethod
     @pytest.mark.dependency(
@@ -414,6 +414,7 @@ def test_create_robots_from_yaml():
         assert robot1.name == "test_robot"
         assert robot1.radius == 0.09
         assert robot1.height == 0.05
+        assert robot1.color == (0.0, 0.8, 0.8)
         assert robot1.location.name == "bedroom"
         assert robot1.get_pose() == Pose.from_list([2.5, 3.0, 1.57])
         assert np.all(robot1.dynamics.vel_limits == np.array([1.0, 1.0, 3.0]))

pyrobosim/test/utils/test_general_utils.py

@@ -23,21 +23,38 @@ def test_parse_color():
     assert parse_color("#00FFFF") == to_rgb(color_hex)
 
     # Test with invalid RGB list
-    with pytest.raises(ValueError):
+    with pytest.raises(ValueError) as exc_info:
         parse_color([1.0, 0.0])
+    assert (
+        exc_info.value.args[0]
+        == "Insufficient elements. RGB color must have exactly 3 elements."
+    )
 
     # Test with invalid RGB tuple
-    with pytest.raises(ValueError):
+    with pytest.raises(ValueError) as exc_info:
         parse_color((1.0, 0.0))
+    assert (
+        exc_info.value.args[0]
+        == "Insufficient elements. RGB color must have exactly 3 elements."
+    )
 
     # Test with invalid named color
-    with pytest.raises(ValueError):
+    with pytest.raises(ValueError) as exc_info:
         parse_color("notavalidcolor")
+    assert (
+        exc_info.value.args[0]
+        == "Invalid color name or hexadecimal value: notavalidcolor."
+    )
 
     # Test with invalid hexadecimal color format
-    with pytest.raises(ValueError):
+    with pytest.raises(ValueError) as exc_info:
         parse_color("#ZZZ")
+    assert exc_info.value.args[0] == "Invalid color name or hexadecimal value: #ZZZ."
 
     # Test with unsupported input type
-    with pytest.raises(ValueError):
+    with pytest.raises(ValueError) as exc_info:
         parse_color(12345)
+    assert (
+        exc_info.value.args[0]
+        == "Unsupported input type. Expected a list, tuple, or string representing a color."
+    )