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 |
mesh_dir = pinocchio_model_dir | |
model_path = join(pinocchio_model_dir, "example-robot-data/robots") | |
int | n_samples = 5 |
open | |
pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") | |
poly = g.TriangularMeshGeometry(vertices=verts, faces=faces) | |
tuple | q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2 |
robot | |
string | urdf_filename = "panda.urdf" |
urdf_model_path = join(join(model_path, "panda_description/urdf"), urdf_filename) | |
verts = verts.T | |
visual_model | |
viz = MeshcatVisualizer(robot, collision_model, visual_model) | |
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 78 of file reachable-workspace.py.
def reachable-workspace.halfedge_to_triangle | ( | he | ) |
Definition at line 68 of file reachable-workspace.py.
def reachable-workspace.vertex_to_tuple | ( | v | ) |
Definition at line 65 of file reachable-workspace.py.
float reachable-workspace.alpha = 0.2 |
Definition at line 111 of file reachable-workspace.py.
reachable-workspace.collision_model |
Definition at line 19 of file reachable-workspace.py.
bool reachable-workspace.convex = True |
Definition at line 47 of file reachable-workspace.py.
reachable-workspace.data = robot.createData() |
Definition at line 22 of file reachable-workspace.py.
reachable-workspace.faces = np.arange(len(verts)).reshape(-1, 3) |
Definition at line 50 of file reachable-workspace.py.
int reachable-workspace.facet_dims = 2 |
Definition at line 44 of file reachable-workspace.py.
reachable-workspace.frame |
Definition at line 40 of file reachable-workspace.py.
float reachable-workspace.horizon = 0.2 |
Definition at line 39 of file reachable-workspace.py.
reachable-workspace.mesh_dir = pinocchio_model_dir |
Definition at line 14 of file reachable-workspace.py.
reachable-workspace.model_path = join(pinocchio_model_dir, "example-robot-data/robots") |
Definition at line 13 of file reachable-workspace.py.
int reachable-workspace.n_samples = 5 |
Definition at line 43 of file reachable-workspace.py.
reachable-workspace.open |
Definition at line 27 of file reachable-workspace.py.
reachable-workspace.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") |
Definition at line 11 of file reachable-workspace.py.
Definition at line 120 of file reachable-workspace.py.
tuple reachable-workspace.q0 = (robot.upperPositionLimit.T + robot.lowerPositionLimit.T) / 2 |
Definition at line 38 of file reachable-workspace.py.
reachable-workspace.robot |
Definition at line 19 of file reachable-workspace.py.
string reachable-workspace.urdf_filename = "panda.urdf" |
Definition at line 16 of file reachable-workspace.py.
reachable-workspace.urdf_model_path = join(join(model_path, "panda_description/urdf"), urdf_filename) |
Definition at line 17 of file reachable-workspace.py.
reachable-workspace.verts = verts.T |
Definition at line 50 of file reachable-workspace.py.
reachable-workspace.visual_model |
Definition at line 19 of file reachable-workspace.py.
reachable-workspace.viz = MeshcatVisualizer(robot, collision_model, visual_model) |
Definition at line 25 of file reachable-workspace.py.