klampt.plan.contactcspace module¶
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class
klampt.plan.contactcspace.
MultiContactCSpace
(robot, contacts, stabilityTestObjects=None, collider=None)[source]¶ Bases:
klampt.plan.cspaceutils.CompositeCSpace
A cspace with contacts that impose closed-chain constraints between a robot and zero or more objects. NOT IMPLEMENTED YET
Collisions are not checked between the world and fixed robot links, or contacting links that are initially already colliding with the world.
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gravity
¶ the gravity vector (default [0,0,-9.8])
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contactMap
¶ a dictionary mapping (obj1,obj2) pairs to lists of contacts. Same structures that results from contactMap.
Type: dict
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holds
¶ a list of Holds associated with the contacts.
Type: list of Hold
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robotCSpace
¶ a ClosedLoopRobotCSpace for the robot
Type: ClosedLoopRobotCSpace
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objectCSpaces
¶ a list of RigidObjectCSpace’s for each moving object
Type: list of RigidObjectCSpace
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movingObjects
¶ a list of moving robots and rigid objects.
Type: list
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stabilityTestObjects
¶ a list of moving robots and rigid objects that will be stability tested
Type: list
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supportPolygon
¶ a list of supportPolygon planes (result from contact.supportPolygon).
Type: list
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supportPolygonVerts
¶ a list of support polygon vertices.
Type: list
Initializes the ContactCSpace. The members contactMap, and objectives are constructed from the contacts argument.
Parameters: - robot (RobotModel) – the moving robot
- contacts – a list of Holds, or ContactPoint objects with the object1 and/or object2 elements filled out.
- stabilityTestObjects (list, optional) – if provided, specifies which objects are stability tested (either type RobotModel or RigidObjectModel). Otherwise, all objects and free-floating robots in contact are stability tested.
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class
klampt.plan.contactcspace.
StanceCSpace
(robot, holds, collider=None, world=None, checkTorqueLimits=False)[source]¶ Bases:
klampt.plan.robotcspace.ClosedLoopRobotCSpace
A cspace with contacts that impose closed-chain constraints between a robot and zero or more objects.
Collisions are not checked between the world and fixed robot links, or contacting links that are initially already colliding with the world.
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robot, collider, solver, tol, maxIters
inherited from ClosedLoopRobotCSpace
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gravity
¶ the gravity vector (default [0,0,-9.8] – currently cannot accept anything else)
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holds
¶ a list of Holds associated with the contacts.
Type: list of Holds
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supportPolygon
¶ the support polygon planes resulting from contact.supportPolygon(holds)
Type: list
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class
klampt.plan.contactcspace.
TransitionCSpace
(space1, space2)[source]¶ Bases:
klampt.plan.robotcspace.ClosedLoopRobotCSpace
A configuration space for a transition between stances.