ysharma/Explore_llamav2_with_TGI · * **impliment this function:

😃: * **genertae python code for[robot mobile] ,this function is for "lidar sensor" that do perform scan
🤖: Sure, here's an example Python code for a robot mobile lidar scanner:

import numpy as np
from scipy.spatial import KDTree

def lidar_scanner(robot_pose, lidar_range, num_beams):
    # Calculate the scan angle range based on the number of beams
    scan_angle_range = 360 / num_beams
    
    # Create an empty list to store the point cloud data
    points = []
    
    # Iterate over each beam and calculate its angle
    for i in range(num_beams):
        # Calculate the angle of the current beam
        angle = i * scan_angle_range
        
        # Calculate the x and y coordinates of the beam's origin
        x = robot_pose[0] + cos(angle) * lidar_range
        y = robot_pose[1] + sin(angle) * lidar_range
        
        # Add the beam's origin to the point cloud
        points.append([x, y])
        
        # Calculate the reflection angles for