reachable-workspace.py File Reference

Go to the source code of this file.

Namespaces
	reachable-workspace

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

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