Go to the source code of this file.
Namespaces | |
| capsule | |
| -approximation | |
| capsule-approximation | |
Functions | |
| def | capsule-approximation.approximate_mesh (filename, lMg) |
| def | capsule-approximation.capsule_approximation (vertices) |
| def | capsule-approximation.capsule_volume (a, b, r) |
| def | capsule-approximation.distance_points_segment (p, a, b) |
| def | capsule-approximation.parse_urdf (infile, outfile) |
| def | capsule-approximation.pca_approximation (vertices) |
Variables | |
| int | capsule-approximation.CONSTRAINT_INFLATION_RATIO = 5e-3 |
| int | capsule-approximation.EPSILON = 1e-8 |
| capsule-approximation.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") | |
| string | capsule-approximation.urdf_filename = pinocchio_model_dir + "models/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf" |