|
| | collision-with-point-clouds.collision_data = collision_model.createData() |
| |
| | collision-with-point-clouds.collision_model |
| |
| | collision-with-point-clouds.collision_pair = pin.CollisionPair(height_field_collision_id, panda_hand_collision_id) |
| |
| | collision-with-point-clouds.data = model.createData() |
| |
| | collision-with-point-clouds.geometry |
| |
| | collision-with-point-clouds.go_height_field = pin.GeometryObject("height_field",0,height_field,height_field_placement) |
| |
| | collision-with-point-clouds.go_panda_hand = collision_model.geometryObjects[panda_hand_collision_id] |
| |
| | collision-with-point-clouds.go_point_cloud = pin.GeometryObject("point_cloud",0,point_cloud,point_cloud_placement) |
| |
| | collision-with-point-clouds.height_field = fcl.HeightFieldOBBRSS(x_dim, y_dim, heights, min(Z)) |
| |
| | collision-with-point-clouds.height_field_collision_id = collision_model.addGeometryObject(go_height_field) |
| |
| | collision-with-point-clouds.height_field_placement = point_cloud_placement * pin.SE3(np.eye(3), 0.5*np.array([x_grid[0] + x_grid[-1], y_grid[0] + y_grid[-1], 0.])) |
| |
| | collision-with-point-clouds.heights = np.zeros((ny, nx)) |
| |
| bool | collision-with-point-clouds.is_collision = False |
| |
| | collision-with-point-clouds.mesh_dir = pinocchio_model_dir |
| |
| | collision-with-point-clouds.meshColor |
| |
| | collision-with-point-clouds.model |
| |
| | collision-with-point-clouds.model_path = join(pinocchio_model_dir,"example-robot-data/robots") |
| |
| int | collision-with-point-clouds.num_points = 5000 |
| |
| int | collision-with-point-clouds.nx = 20 |
| |
| int | collision-with-point-clouds.ny = 20 |
| |
| | collision-with-point-clouds.open |
| |
| | collision-with-point-clouds.panda_hand_collision_id = collision_model.getGeometryId("panda_hand_0") |
| |
| | collision-with-point-clouds.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),"models") |
| |
| int | collision-with-point-clouds.point_bins = y_bins * nx + x_bins |
| |
| | collision-with-point-clouds.point_cloud = fcl.BVHModelOBBRSS() |
| |
| | collision-with-point-clouds.point_cloud_placement = pin.SE3.Identity() |
| |
| | collision-with-point-clouds.points = np.random.rand(3, num_points) |
| |
| | collision-with-point-clouds.q = pin.randomConfiguration(model) |
| |
| | collision-with-point-clouds.q0 = pin.neutral(model) |
| |
| | collision-with-point-clouds.translation |
| |
| string | collision-with-point-clouds.urdf_filename = "panda.urdf" |
| |
| | collision-with-point-clouds.urdf_model_path = join(join(model_path,"panda_description/urdf"),urdf_filename) |
| |
| | collision-with-point-clouds.visual_model |
| |
| | collision-with-point-clouds.viz = MeshcatVisualizer(model, collision_model, visual_model) |
| |
| | collision-with-point-clouds.X = points[0,:] |
| |
| | collision-with-point-clouds.x_bins = np.digitize(X, x_grid + x_half_pad) |
| |
| | collision-with-point-clouds.x_dim = x_grid[-1] - x_grid[0] |
| |
| | collision-with-point-clouds.x_grid = np.linspace(0.,1.,nx) |
| |
| float | collision-with-point-clouds.x_half_pad = 0.5*(x_grid[1] - x_grid[0]) |
| |
| | collision-with-point-clouds.Y = points[1,:] |
| |
| | collision-with-point-clouds.y_bins = np.digitize(Y, y_grid + y_half_pad) |
| |
| | collision-with-point-clouds.y_dim = y_grid[-1] - y_grid[0] |
| |
| | collision-with-point-clouds.y_grid = np.linspace(0.,1.,ny) |
| |
| float | collision-with-point-clouds.y_half_pad = 0.5*(y_grid[1] - y_grid[0]) |
| |
| | collision-with-point-clouds.Z = points[2,:] |
| |