reachable-workspace-with-collisions Namespace Reference

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
string	mesh_dir = pinocchio_model_dir
	meshColor
string	model_path = 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
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
	placement
	poly = g.TriangularMeshGeometry(vertices=verts, faces=faces)
tuple	q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2
	rad
	robot
	robotBodies = range(nbodies)
string	srdf_path = model_path / "panda_description/srdf/panda.srdf"
string	urdf_path = 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 126 of file reachable-workspace-with-collisions.py.

halfedge_to_triangle()

def reachable-workspace-with-collisions.halfedge_to_triangle

(

he

)

Definition at line 116 of file reachable-workspace-with-collisions.py.

vertex_to_tuple()

def reachable-workspace-with-collisions.vertex_to_tuple

(

v

)

Definition at line 113 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 162 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 95 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 98 of file reachable-workspace-with-collisions.py.

facet_dims

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

Definition at line 91 of file reachable-workspace-with-collisions.py.

frame

reachable-workspace-with-collisions.frame

Initial value:

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

Definition at line 87 of file reachable-workspace-with-collisions.py.

horizon

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

Definition at line 86 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

string 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

string reachable-workspace-with-collisions.model_path = 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 90 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

string reachable-workspace-with-collisions.pinocchio_model_dir = Path(__file__).parent.parent / "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 171 of file reachable-workspace-with-collisions.py.

q0

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

Definition at line 85 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

string reachable-workspace-with-collisions.srdf_path = model_path / "panda_description/srdf/panda.srdf"

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

urdf_path

string reachable-workspace-with-collisions.urdf_path = 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 98 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.