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| float | reachable-workspace-with-collisions.alpha = 0.1 |
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| | reachable-workspace-with-collisions.collision_data = pin.GeometryData(collision_model) |
| |
| | reachable-workspace-with-collisions.collision_model |
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| list | reachable-workspace-with-collisions.color = [1.0, 0.2, 0.2, 1.0] |
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| bool | reachable-workspace-with-collisions.convex = False |
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| | reachable-workspace-with-collisions.data = robot.createData() |
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| | reachable-workspace-with-collisions.envBodies = range(nbodies, nbodies + nobs) |
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| | reachable-workspace-with-collisions.faces = np.arange(len(verts)).reshape(-1, 3) |
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| int | reachable-workspace-with-collisions.facet_dims = 2 |
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| | reachable-workspace-with-collisions.frame |
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| float | reachable-workspace-with-collisions.horizon = 0.2 |
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| | reachable-workspace-with-collisions.length |
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| | reachable-workspace-with-collisions.mesh_dir = pinocchio_model_dir |
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| | reachable-workspace-with-collisions.meshColor |
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| | reachable-workspace-with-collisions.model_path = join(pinocchio_model_dir, "example-robot-data/robots") |
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| int | reachable-workspace-with-collisions.n_samples = 5 |
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| | reachable-workspace-with-collisions.name |
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| | reachable-workspace-with-collisions.nbodies = collision_model.ngeoms - nobs |
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| | reachable-workspace-with-collisions.nobs = len(oMobs) |
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| | reachable-workspace-with-collisions.obs = pin.GeometryObject.CreateCapsule(rad, length) |
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| list | reachable-workspace-with-collisions.oMobs |
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| | reachable-workspace-with-collisions.open |
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| | reachable-workspace-with-collisions.parentJoint |
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| | reachable-workspace-with-collisions.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") |
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| | reachable-workspace-with-collisions.placement |
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| | reachable-workspace-with-collisions.poly = g.TriangularMeshGeometry(vertices=verts, faces=faces) |
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| tuple | reachable-workspace-with-collisions.q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2 |
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| | reachable-workspace-with-collisions.rad |
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| | reachable-workspace-with-collisions.robot |
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| | reachable-workspace-with-collisions.robotBodies = range(nbodies) |
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| | reachable-workspace-with-collisions.srdf_path = join(model_path, "panda_description/srdf/panda.srdf") |
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| | reachable-workspace-with-collisions.urdf_path = join(model_path, "panda_description/urdf/panda.urdf") |
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| | reachable-workspace-with-collisions.verts = verts.T |
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| | reachable-workspace-with-collisions.visual_data = pin.GeometryData(visual_model) |
| |
| | reachable-workspace-with-collisions.visual_model |
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| | reachable-workspace-with-collisions.viz = MeshcatVisualizer(robot, collision_model, visual_model) |
| |