reachable-workspace Namespace Reference

Functions
def	alpha_shape_with_cgal (coords, alpha=None)
def	halfedge_to_triangle (he)
def	vertex_to_tuple (v)

Variables
float	alpha = 0.2
	collision_model
bool	convex = True
	data = robot.createData()
	faces = np.arange(len(verts)).reshape(-1, 3)
int	facet_dims = 2
	frame
float	horizon = 0.2
string	mesh_dir = pinocchio_model_dir
string	model_path = pinocchio_model_dir / "example-robot-data/robots"
int	n_samples = 5
	open
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
	poly = g.TriangularMeshGeometry(vertices=verts, faces=faces)
tuple	q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2
	robot
string	urdf_filename = "panda.urdf"
string	urdf_model_path = model_path / "panda_description/urdf" / urdf_filename
	verts = verts.T
	visual_model
	viz = MeshcatVisualizer(robot, collision_model, visual_model)

Function Documentation

alpha_shape_with_cgal()

def reachable-workspace.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 80 of file reachable-workspace.py.

halfedge_to_triangle()

def reachable-workspace.halfedge_to_triangle

(

he

)

Definition at line 70 of file reachable-workspace.py.

vertex_to_tuple()

def reachable-workspace.vertex_to_tuple

(

v

)

Definition at line 67 of file reachable-workspace.py.

Variable Documentation

alpha

float reachable-workspace.alpha = 0.2

Definition at line 114 of file reachable-workspace.py.

collision_model

reachable-workspace.collision_model

Definition at line 19 of file reachable-workspace.py.

convex

bool reachable-workspace.convex = True

Definition at line 49 of file reachable-workspace.py.

data

reachable-workspace.data = robot.createData()

Definition at line 22 of file reachable-workspace.py.

faces

reachable-workspace.faces = np.arange(len(verts)).reshape(-1, 3)

Definition at line 52 of file reachable-workspace.py.

facet_dims

int reachable-workspace.facet_dims = 2

Definition at line 45 of file reachable-workspace.py.

frame

reachable-workspace.frame

Initial value:

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

Definition at line 41 of file reachable-workspace.py.

horizon

float reachable-workspace.horizon = 0.2

Definition at line 40 of file reachable-workspace.py.

mesh_dir

string reachable-workspace.mesh_dir = pinocchio_model_dir

Definition at line 14 of file reachable-workspace.py.

model_path

string reachable-workspace.model_path = pinocchio_model_dir / "example-robot-data/robots"

Definition at line 13 of file reachable-workspace.py.

n_samples

int reachable-workspace.n_samples = 5

Definition at line 44 of file reachable-workspace.py.

open

reachable-workspace.open

Definition at line 27 of file reachable-workspace.py.

pinocchio_model_dir

string reachable-workspace.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 11 of file reachable-workspace.py.

poly

reachable-workspace.poly = g.TriangularMeshGeometry(vertices=verts, faces=faces)

Definition at line 123 of file reachable-workspace.py.

q0

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

Definition at line 39 of file reachable-workspace.py.

robot

reachable-workspace.robot

Definition at line 19 of file reachable-workspace.py.

urdf_filename

string reachable-workspace.urdf_filename = "panda.urdf"

Definition at line 16 of file reachable-workspace.py.

urdf_model_path

string reachable-workspace.urdf_model_path = model_path / "panda_description/urdf" / urdf_filename

Definition at line 17 of file reachable-workspace.py.

verts

reachable-workspace.verts = verts.T

Definition at line 52 of file reachable-workspace.py.

visual_model

reachable-workspace.visual_model

Definition at line 19 of file reachable-workspace.py.

viz

reachable-workspace.viz = MeshcatVisualizer(robot, collision_model, visual_model)

Definition at line 25 of file reachable-workspace.py.