Variables
	collision_data = collision_model.createData()

	collision_model

	collision_pair = pin.CollisionPair(height_field_collision_id, panda_hand_collision_id)

	data = model.createData()

	geometry

	go_height_field = pin.GeometryObject("height_field",0,height_field,height_field_placement)

	go_panda_hand = collision_model.geometryObjects[panda_hand_collision_id]

	go_point_cloud = pin.GeometryObject("point_cloud",0,point_cloud,point_cloud_placement)

	height_field = fcl.HeightFieldOBBRSS(x_dim, y_dim, heights, min(Z))

	height_field_collision_id = collision_model.addGeometryObject(go_height_field)

	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.]))

	heights = np.zeros((ny, nx))

bool	is_collision = False

	mesh_dir = pinocchio_model_dir

	meshColor

	model

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

int	num_points = 5000

int	nx = 20

int	ny = 20

	open

	panda_hand_collision_id = collision_model.getGeometryId("panda_hand_0")

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

int	point_bins = y_bins * nx + x_bins

	point_cloud = fcl.BVHModelOBBRSS()

	point_cloud_placement = pin.SE3.Identity()

	points = np.random.rand(3, num_points)

	q = pin.randomConfiguration(model)

	q0 = pin.neutral(model)

	translation

string	urdf_filename = "panda.urdf"

	urdf_model_path = join(join(model_path,"panda_description/urdf"),urdf_filename)

	visual_model

	viz = MeshcatVisualizer(model, collision_model, visual_model)

	X = points[0,:]

	x_bins = np.digitize(X, x_grid + x_half_pad)

	x_dim = x_grid[-1] - x_grid[0]

	x_grid = np.linspace(0.,1.,nx)

float	x_half_pad = 0.5*(x_grid[1] - x_grid[0])

	Y = points[1,:]

	y_bins = np.digitize(Y, y_grid + y_half_pad)

	y_dim = y_grid[-1] - y_grid[0]

	y_grid = np.linspace(0.,1.,ny)

float	y_half_pad = 0.5*(y_grid[1] - y_grid[0])

	Z = points[2,:]

Variable Documentation

◆ collision_data

collision-with-point-clouds.collision_data = collision_model.createData()

Definition at line 100 of file collision-with-point-clouds.py.

◆ collision_model

collision-with-point-clouds.collision_model

Definition at line 22 of file collision-with-point-clouds.py.

◆ collision_pair

collision-with-point-clouds.collision_pair = pin.CollisionPair(height_field_collision_id, panda_hand_collision_id)

Definition at line 73 of file collision-with-point-clouds.py.

◆ data

collision-with-point-clouds.data = model.createData()

Definition at line 99 of file collision-with-point-clouds.py.

◆ geometry

collision-with-point-clouds.geometry

Definition at line 71 of file collision-with-point-clouds.py.

◆ go_height_field

collision-with-point-clouds.go_height_field = pin.GeometryObject("height_field",0,height_field,height_field_placement)

Definition at line 62 of file collision-with-point-clouds.py.

◆ go_panda_hand

collision-with-point-clouds.go_panda_hand = collision_model.geometryObjects[panda_hand_collision_id]

Definition at line 69 of file collision-with-point-clouds.py.

◆ go_point_cloud

collision-with-point-clouds.go_point_cloud = pin.GeometryObject("point_cloud",0,point_cloud,point_cloud_placement)

Definition at line 57 of file collision-with-point-clouds.py.

◆ height_field

collision-with-point-clouds.height_field = fcl.HeightFieldOBBRSS(x_dim, y_dim, heights, min(Z))

Definition at line 54 of file collision-with-point-clouds.py.

◆ height_field_collision_id

collision-with-point-clouds.height_field_collision_id = collision_model.addGeometryObject(go_height_field)

Definition at line 64 of file collision-with-point-clouds.py.

◆ height_field_placement

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.]))

Definition at line 55 of file collision-with-point-clouds.py.