Functions
def	alpha_shape_with_cgal (coords, alpha=None)

def	halfedge_to_triangle (he)

def	vertex_to_tuple (v)

def	XYZRPYtoSE3 (xyzrpy)

Variables
float	alpha = 0.1

	collision_data = pin.GeometryData(collision_model)

	collision_model

list	color = [1.0, 0.2, 0.2, 1.0]

bool	convex = False

	data = robot.createData()

	envBodies = range(nbodies, nbodies + nobs)

	faces = np.arange(len(verts)).reshape(-1, 3)

int	facet_dims = 2

	frame

float	horizon = 0.2

	length

	mesh_dir = pinocchio_model_dir

	meshColor

	model_path = join(pinocchio_model_dir, "example-robot-data/robots")

int	n_samples = 5

	name

	nbodies = collision_model.ngeoms - nobs

	nobs = len(oMobs)

	obs = pin.GeometryObject.CreateCapsule(rad, length)

list	oMobs

	open

	parentJoint

	pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

	placement

	poly = g.TriangularMeshGeometry(vertices=verts, faces=faces)

tuple	q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2

	rad

	robot

	robotBodies = range(nbodies)

	srdf_path = join(model_path, "panda_description/srdf/panda.srdf")

	urdf_path = join(model_path, "panda_description/urdf/panda.urdf")

	verts = verts.T

	visual_data = pin.GeometryData(visual_model)

	visual_model

	viz = MeshcatVisualizer(robot, collision_model, visual_model)

Function Documentation

◆ alpha_shape_with_cgal()

def reachable-workspace-with-collisions.alpha_shape_with_cgal	(	coords,
		alpha = `None`
	)

Compute the alpha shape of a set of points. (Code thanks to A. Skuric)
Retrieved from http://blog.thehumangeo.com/2014/05/12/drawing-boundaries-in-python/

:param coords : Coordinates of points
:param alpha: List of alpha values to influence the gooeyness of the border. Smaller numbers don't fall inward as much as larger numbers.
Too large, and you lose everything!
:return: Shapely.MultiPolygons which is the hull of the input set of points

Definition at line 124 of file reachable-workspace-with-collisions.py.

◆ halfedge_to_triangle()

def reachable-workspace-with-collisions.halfedge_to_triangle ( he )

Definition at line 114 of file reachable-workspace-with-collisions.py.

◆ vertex_to_tuple()

def reachable-workspace-with-collisions.vertex_to_tuple ( v )

Definition at line 111 of file reachable-workspace-with-collisions.py.

◆ XYZRPYtoSE3()

def reachable-workspace-with-collisions.XYZRPYtoSE3 ( xyzrpy )

Definition at line 12 of file reachable-workspace-with-collisions.py.

Variable Documentation

◆ alpha

float reachable-workspace-with-collisions.alpha = 0.1

Definition at line 159 of file reachable-workspace-with-collisions.py.

◆ collision_data

reachable-workspace-with-collisions.collision_data = pin.GeometryData(collision_model)

Definition at line 67 of file reachable-workspace-with-collisions.py.

◆ collision_model

reachable-workspace-with-collisions.collision_model

Definition at line 28 of file reachable-workspace-with-collisions.py.

◆ color

list reachable-workspace-with-collisions.color = [1.0, 0.2, 0.2, 1.0]

Definition at line 40 of file reachable-workspace-with-collisions.py.

◆ convex

bool reachable-workspace-with-collisions.convex = False

Definition at line 93 of file reachable-workspace-with-collisions.py.

◆ data

reachable-workspace-with-collisions.data = robot.createData()

Definition at line 29 of file reachable-workspace-with-collisions.py.

◆ envBodies

reachable-workspace-with-collisions.envBodies = range(nbodies, nbodies + nobs)

Definition at line 61 of file reachable-workspace-with-collisions.py.

◆ faces

reachable-workspace-with-collisions.faces = np.arange(len(verts)).reshape(-1, 3)

Definition at line 96 of file reachable-workspace-with-collisions.py.

◆ facet_dims

int reachable-workspace-with-collisions.facet_dims = 2

Definition at line 90 of file reachable-workspace-with-collisions.py.

◆ frame

reachable-workspace-with-collisions.frame

Initial value:

 =  robot.getFrameId(
     robot.frames[-1].name
 )

Definition at line 86 of file reachable-workspace-with-collisions.py.

◆ horizon

float reachable-workspace-with-collisions.horizon = 0.2

Definition at line 85 of file reachable-workspace-with-collisions.py.

◆ length

reachable-workspace-with-collisions.length

Definition at line 41 of file reachable-workspace-with-collisions.py.

◆ mesh_dir

reachable-workspace-with-collisions.mesh_dir = pinocchio_model_dir

Definition at line 23 of file reachable-workspace-with-collisions.py.

◆ meshColor

reachable-workspace-with-collisions.meshColor

Definition at line 44 of file reachable-workspace-with-collisions.py.

◆ model_path

reachable-workspace-with-collisions.model_path = join(pinocchio_model_dir, "example-robot-data/robots")

Definition at line 22 of file reachable-workspace-with-collisions.py.

◆ n_samples

int reachable-workspace-with-collisions.n_samples = 5

Definition at line 89 of file reachable-workspace-with-collisions.py.

◆ name

reachable-workspace-with-collisions.name

Definition at line 47 of file reachable-workspace-with-collisions.py.

◆ nbodies

reachable-workspace-with-collisions.nbodies = collision_model.ngeoms - nobs

Definition at line 59 of file reachable-workspace-with-collisions.py.

◆ nobs

reachable-workspace-with-collisions.nobs = len(oMobs)

Definition at line 58 of file reachable-workspace-with-collisions.py.

◆ obs

reachable-workspace-with-collisions.obs = pin.GeometryObject.CreateCapsule(rad, length)

Definition at line 43 of file reachable-workspace-with-collisions.py.

◆ oMobs

list reachable-workspace-with-collisions.oMobs

Initial value:

 =  [
     [0.40, 0.0, 0.30, np.pi / 2, 0, 0],
     [-0.08, -0.0, 0.75, np.pi / 2, 0, 0],
     [0.23, -0.0, 0.04, np.pi / 2, 0, 0],
 ]

Definition at line 33 of file reachable-workspace-with-collisions.py.

◆ open

reachable-workspace-with-collisions.open

Definition at line 73 of file reachable-workspace-with-collisions.py.

◆ parentJoint

reachable-workspace-with-collisions.parentJoint

Definition at line 48 of file reachable-workspace-with-collisions.py.

◆ pinocchio_model_dir

reachable-workspace-with-collisions.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

Definition at line 20 of file reachable-workspace-with-collisions.py.

◆ placement

reachable-workspace-with-collisions.placement

Definition at line 49 of file reachable-workspace-with-collisions.py.

◆ poly

reachable-workspace-with-collisions.poly = g.TriangularMeshGeometry(vertices=verts, faces=faces)

Definition at line 168 of file reachable-workspace-with-collisions.py.

◆ q0

tuple reachable-workspace-with-collisions.q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2

Definition at line 84 of file reachable-workspace-with-collisions.py.

◆ rad

reachable-workspace-with-collisions.rad

Definition at line 41 of file reachable-workspace-with-collisions.py.

◆ robot

reachable-workspace-with-collisions.robot

Definition at line 28 of file reachable-workspace-with-collisions.py.

◆ robotBodies

reachable-workspace-with-collisions.robotBodies = range(nbodies)

Definition at line 60 of file reachable-workspace-with-collisions.py.

◆ srdf_path

reachable-workspace-with-collisions.srdf_path = join(model_path, "panda_description/srdf/panda.srdf")

Definition at line 26 of file reachable-workspace-with-collisions.py.

◆ urdf_path

reachable-workspace-with-collisions.urdf_path = join(model_path, "panda_description/urdf/panda.urdf")

Definition at line 25 of file reachable-workspace-with-collisions.py.

◆ verts

reachable-workspace-with-collisions.verts = verts.T

Definition at line 96 of file reachable-workspace-with-collisions.py.

◆ visual_data

reachable-workspace-with-collisions.visual_data = pin.GeometryData(visual_model)

Definition at line 68 of file reachable-workspace-with-collisions.py.

◆ visual_model

reachable-workspace-with-collisions.visual_model

Definition at line 28 of file reachable-workspace-with-collisions.py.

◆ viz

reachable-workspace-with-collisions.viz = MeshcatVisualizer(robot, collision_model, visual_model)

Definition at line 71 of file reachable-workspace-with-collisions.py.

Functions

Variables

Function Documentation

◆ alpha_shape_with_cgal()

◆ halfedge_to_triangle()

◆ vertex_to_tuple()

◆ XYZRPYtoSE3()

Variable Documentation

◆ alpha

◆ collision_data

◆ collision_model

◆ color

◆ convex

◆ data

◆ envBodies

◆ faces

◆ facet_dims

◆ frame

◆ horizon

◆ length

◆ mesh_dir

◆ meshColor

◆ model_path

◆ n_samples

◆ name

◆ nbodies

◆ nobs

◆ obs

◆ oMobs

◆ open

◆ parentJoint

◆ pinocchio_model_dir

◆ placement

◆ poly

◆ q0

◆ rad

◆ robot

◆ robotBodies

◆ srdf_path

◆ urdf_path

◆ verts

◆ visual_data

◆ visual_model

◆ viz