collision-with-point-clouds Namespace Reference

Variables
	collision_data = collision_model.createData()
	collision_model
	collision_pair = pin.CollisionPair(height_field_collision_id, panda_hand_collision_id)
	data = model.createData()
	geometry
	go_height_field
	go_panda_hand = collision_model.geometryObjects[panda_hand_collision_id]
	go_point_cloud
	height_field = fcl.HeightFieldOBBRSS(x_dim, y_dim, heights, min(Z))
	height_field_collision_id = collision_model.addGeometryObject(go_height_field)
tuple	height_field_placement
	heights = np.zeros((ny, nx))
bool	is_collision = False
string	mesh_dir = pinocchio_model_dir
	meshColor
	model
string	model_path = pinocchio_model_dir / "example-robot-data/robots"
int	num_points = 5000
int	nx = 20
int	ny = 20
	open
	panda_hand_collision_id = collision_model.getGeometryId("panda_hand_0")
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
int	point_bins = y_bins * nx + x_bins
	point_cloud = fcl.BVHModelOBBRSS()
tuple	point_cloud_placement
	points = np.random.rand(3, num_points)
	q = pin.randomConfiguration(model)
	q0 = pin.neutral(model)
	translation
string	urdf_filename = "panda.urdf"
string	urdf_model_path = model_path / "panda_description/urdf" / urdf_filename
	visual_model
	viz = MeshcatVisualizer(model, collision_model, visual_model)
	X = points[0, :]
	x_bins = np.digitize(X, x_grid + x_half_pad)
	x_dim = x_grid[-1] - x_grid[0]
	x_grid = np.linspace(0.0, 1.0, nx)
float	x_half_pad = 0.5 * (x_grid[1] - x_grid[0])
	Y = points[1, :]
	y_bins = np.digitize(Y, y_grid + y_half_pad)
	y_dim = y_grid[-1] - y_grid[0]
	y_grid = np.linspace(0.0, 1.0, ny)
float	y_half_pad = 0.5 * (y_grid[1] - y_grid[0])
	Z = points[2, :]

Variable Documentation

collision_data

collision-with-point-clouds.collision_data = collision_model.createData()

Definition at line 117 of file collision-with-point-clouds.py.

collision_model

collision-with-point-clouds.collision_model

Definition at line 24 of file collision-with-point-clouds.py.

collision_pair

collision-with-point-clouds.collision_pair = pin.CollisionPair(height_field_collision_id, panda_hand_collision_id)

Definition at line 87 of file collision-with-point-clouds.py.

data

collision-with-point-clouds.data = model.createData()

Definition at line 116 of file collision-with-point-clouds.py.

geometry

collision-with-point-clouds.geometry

Definition at line 83 of file collision-with-point-clouds.py.

go_height_field

collision-with-point-clouds.go_height_field

Initial value:

=  pin.GeometryObject(
    "height_field", 0, height_field_placement, height_field
)

Definition at line 72 of file collision-with-point-clouds.py.

go_panda_hand

collision-with-point-clouds.go_panda_hand = collision_model.geometryObjects[panda_hand_collision_id]

Definition at line 81 of file collision-with-point-clouds.py.

go_point_cloud

collision-with-point-clouds.go_point_cloud

Initial value:

=  pin.GeometryObject(
    "point_cloud", 0, point_cloud_placement, point_cloud
)

Definition at line 65 of file collision-with-point-clouds.py.

height_field

collision-with-point-clouds.height_field = fcl.HeightFieldOBBRSS(x_dim, y_dim, heights, min(Z))

Definition at line 60 of file collision-with-point-clouds.py.

height_field_collision_id

collision-with-point-clouds.height_field_collision_id = collision_model.addGeometryObject(go_height_field)

Definition at line 76 of file collision-with-point-clouds.py.

height_field_placement

tuple collision-with-point-clouds.height_field_placement

Initial value:

=  point_cloud_placement * pin.SE3(
    np.eye(3), 0.5 * np.array([x_grid[0] + x_grid[-1], y_grid[0] + y_grid[-1], 0.0])
)

Definition at line 61 of file collision-with-point-clouds.py.

heights

collision-with-point-clouds.heights = np.zeros((ny, nx))

Definition at line 53 of file collision-with-point-clouds.py.

is_collision

collision-with-point-clouds.is_collision = False

Definition at line 115 of file collision-with-point-clouds.py.

mesh_dir

string collision-with-point-clouds.mesh_dir = pinocchio_model_dir

Definition at line 20 of file collision-with-point-clouds.py.

meshColor

collision-with-point-clouds.meshColor

Definition at line 68 of file collision-with-point-clouds.py.

model

collision-with-point-clouds.model

Definition at line 24 of file collision-with-point-clouds.py.

model_path

string collision-with-point-clouds.model_path = pinocchio_model_dir / "example-robot-data/robots"

Definition at line 19 of file collision-with-point-clouds.py.

num_points

int collision-with-point-clouds.num_points = 5000

Definition at line 29 of file collision-with-point-clouds.py.

nx

int collision-with-point-clouds.nx = 20

Definition at line 40 of file collision-with-point-clouds.py.

ny

int collision-with-point-clouds.ny = 20

Definition at line 46 of file collision-with-point-clouds.py.

open

collision-with-point-clouds.open

Definition at line 99 of file collision-with-point-clouds.py.

panda_hand_collision_id

collision-with-point-clouds.panda_hand_collision_id = collision_model.getGeometryId("panda_hand_0")

Definition at line 80 of file collision-with-point-clouds.py.

pinocchio_model_dir

string collision-with-point-clouds.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 17 of file collision-with-point-clouds.py.

point_bins

int collision-with-point-clouds.point_bins = y_bins * nx + x_bins

Definition at line 52 of file collision-with-point-clouds.py.

point_cloud

collision-with-point-clouds.point_cloud = fcl.BVHModelOBBRSS()

Definition at line 56 of file collision-with-point-clouds.py.

point_cloud_placement

tuple collision-with-point-clouds.point_cloud_placement

Initial value:

=  (
    pin.SE3.Identity()
)

Definition at line 31 of file collision-with-point-clouds.py.

points

collision-with-point-clouds.points = np.random.rand(3, num_points)

Definition at line 30 of file collision-with-point-clouds.py.

q

collision-with-point-clouds.q = pin.randomConfiguration(model)

Definition at line 119 of file collision-with-point-clouds.py.

q0

collision-with-point-clouds.q0 = pin.neutral(model)

Definition at line 112 of file collision-with-point-clouds.py.

translation

collision-with-point-clouds.translation

Definition at line 34 of file collision-with-point-clouds.py.

urdf_filename

string collision-with-point-clouds.urdf_filename = "panda.urdf"

Definition at line 21 of file collision-with-point-clouds.py.

urdf_model_path

string collision-with-point-clouds.urdf_model_path = model_path / "panda_description/urdf" / urdf_filename

Definition at line 22 of file collision-with-point-clouds.py.

visual_model

collision-with-point-clouds.visual_model

Definition at line 24 of file collision-with-point-clouds.py.

viz

collision-with-point-clouds.viz = MeshcatVisualizer(model, collision_model, visual_model)

Definition at line 98 of file collision-with-point-clouds.py.

X

collision-with-point-clouds.X = points[0, :]

Definition at line 36 of file collision-with-point-clouds.py.

x_bins

collision-with-point-clouds.x_bins = np.digitize(X, x_grid + x_half_pad)

Definition at line 43 of file collision-with-point-clouds.py.

x_dim

collision-with-point-clouds.x_dim = x_grid[-1] - x_grid[0]

Definition at line 44 of file collision-with-point-clouds.py.

x_grid

collision-with-point-clouds.x_grid = np.linspace(0.0, 1.0, nx)

Definition at line 41 of file collision-with-point-clouds.py.

x_half_pad

float collision-with-point-clouds.x_half_pad = 0.5 * (x_grid[1] - x_grid[0])

Definition at line 42 of file collision-with-point-clouds.py.

Y

collision-with-point-clouds.Y = points[1, :]

Definition at line 37 of file collision-with-point-clouds.py.

y_bins

collision-with-point-clouds.y_bins = np.digitize(Y, y_grid + y_half_pad)

Definition at line 49 of file collision-with-point-clouds.py.

y_dim

collision-with-point-clouds.y_dim = y_grid[-1] - y_grid[0]

Definition at line 50 of file collision-with-point-clouds.py.

y_grid

collision-with-point-clouds.y_grid = np.linspace(0.0, 1.0, ny)

Definition at line 47 of file collision-with-point-clouds.py.

y_half_pad

float collision-with-point-clouds.y_half_pad = 0.5 * (y_grid[1] - y_grid[0])

Definition at line 48 of file collision-with-point-clouds.py.

Z

collision-with-point-clouds.Z = points[2, :]

Definition at line 38 of file collision-with-point-clouds.py.