examples
Namespaces
|
Functions
|
Variables
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)
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:13