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The robot footprint defines the shape displayed on maps to represent the physical area a robot occupies. This visualization helps operators understand robot positioning, plan paths, and identify potential collision areas. Unlike most configuration kinds, RobotFootprint is a global config—only one per scope. The only accepted id value is "all".

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When to Use

  • Non-circular robots: Define a polygon footprint for rectangular, L-shaped, or custom robot shapes
  • Buffer visualization: Show an expanded footprint for safety margins or collision detection areas
  • Multi-robot fleets: Apply different footprints to different robot types using tag-level scopes

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Spec Fields

FieldTypeRequiredDescription
footprintarrayNoShape as a list of {x, y} points (minimum 3). Coordinates are in meters relative to robot position. If omitted, uses a circular shape based on radius.
bufferFootprintarrayNoExpanded footprint for collision buffer visualization. Same format as footprint.
radiusnumberNoSize of the inner orientation indicator. Also determines circular footprint size if footprint is not provided. Set to 0 to hide the indicator.
If only footprint or radius is provided, the other is inherited from tag-level or account-level configuration.

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Example

kind: RobotFootprint
apiVersion: v0.1
metadata:
  scope: account/<accountId>
  id: "all"
spec:
  footprint:
    - { x: -0.5, y: -0.5 }
    - { x:  0.3, y: -0.5 }
    - { x:  0.7, y:  0.0 }
    - { x:  0.3, y:  0.5 }
    - { x: -0.5, y:  0.5 }
  bufferFootprint:
    - { x: -0.6, y: -0.6 }
    - { x:  0.4, y: -0.6 }
    - { x:  0.8, y:  0.0 }
    - { x:  0.4, y:  0.6 }
    - { x: -0.6, y:  0.6 }
  radius: 0.2
This defines a pentagon-shaped robot with a slightly larger buffer zone for collision awareness.