reachable-workspace-with-collisions.py File Reference

Go to the source code of this file.

Namespaces
	reachable-workspace-with-collisions

Functions
def	reachable-workspace-with-collisions.alpha_shape_with_cgal (coords, alpha=None)
def	reachable-workspace-with-collisions.halfedge_to_triangle (he)
def	reachable-workspace-with-collisions.vertex_to_tuple (v)
def	reachable-workspace-with-collisions.XYZRPYtoSE3 (xyzrpy)

Variables
float	reachable-workspace-with-collisions.alpha = 0.1
	reachable-workspace-with-collisions.collision_data = pin.GeometryData(collision_model)
	reachable-workspace-with-collisions.collision_model
list	reachable-workspace-with-collisions.color = [1.0, 0.2, 0.2, 1.0]
bool	reachable-workspace-with-collisions.convex = False
	reachable-workspace-with-collisions.data = robot.createData()
	reachable-workspace-with-collisions.envBodies = range(nbodies, nbodies + nobs)
	reachable-workspace-with-collisions.faces = np.arange(len(verts)).reshape(-1, 3)
int	reachable-workspace-with-collisions.facet_dims = 2
	reachable-workspace-with-collisions.frame
float	reachable-workspace-with-collisions.horizon = 0.2
	reachable-workspace-with-collisions.length
string	reachable-workspace-with-collisions.mesh_dir = pinocchio_model_dir
	reachable-workspace-with-collisions.meshColor
string	reachable-workspace-with-collisions.model_path = pinocchio_model_dir / "example-robot-data/robots"
int	reachable-workspace-with-collisions.n_samples = 5
	reachable-workspace-with-collisions.name
	reachable-workspace-with-collisions.nbodies = collision_model.ngeoms - nobs
	reachable-workspace-with-collisions.nobs = len(oMobs)
	reachable-workspace-with-collisions.obs = pin.GeometryObject.CreateCapsule(rad, length)
list	reachable-workspace-with-collisions.oMobs
	reachable-workspace-with-collisions.open
	reachable-workspace-with-collisions.parentJoint
string	reachable-workspace-with-collisions.pinocchio_model_dir = Path(__file__).parent.parent / "models"
	reachable-workspace-with-collisions.placement
	reachable-workspace-with-collisions.poly = g.TriangularMeshGeometry(vertices=verts, faces=faces)
tuple	reachable-workspace-with-collisions.q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2
	reachable-workspace-with-collisions.rad
	reachable-workspace-with-collisions.robot
	reachable-workspace-with-collisions.robotBodies = range(nbodies)
string	reachable-workspace-with-collisions.srdf_path = model_path / "panda_description/srdf/panda.srdf"
string	reachable-workspace-with-collisions.urdf_path = model_path / "panda_description/urdf/panda.urdf"
	reachable-workspace-with-collisions.verts = verts.T
	reachable-workspace-with-collisions.visual_data = pin.GeometryData(visual_model)
	reachable-workspace-with-collisions.visual_model
	reachable-workspace-with-collisions.viz = MeshcatVisualizer(robot, collision_model, visual_model)