klampt.model.workspace module
Functions for computing robot workspaces, with lots of options for setting feasibility conditions.
Added in version 0.9.
- klampt.model.workspace.compute_occupancy_grid(points, resolution=0.05, dimensions=None, bounds=None, value='occupancy')[source]
Helper to compute an occupancy grid given a set of points.
- Return type:
- Parameters:
points (list of Vector3 or nx3 array) – the points
resolution (float, 3-vector, or None) – the resolution of the resulting grid.
dimensions (int or 3-vector optional) – if resolution=None and dimensions is given, the number of dimensions. If a single int, the cell size is determined by dividing the longest side by dimensions.
bounds (pair of 3-vectors, optional) – specifies the minimum and maximum range of the grid. If not given, calculated by the
value (str) – either ‘occupancy’, ‘count’, or ‘probability’.
- klampt.model.workspace.compute_field_grid(points, values, resolution=0.05, dimensions=None, bounds=None, aggregator='max', initial_value='auto')[source]
Helper to compute a gridded value field over a set of scattered points.
- Return type:
- Parameters:
points (list of Vector3 or nx3 array) – the points
values (list of float) – the values at each point
resolution (float, 3-vector, or None) – the resolution of the resulting grid.
dimensions (int or 3-vector optional) – if resolution=None and dimensions is given, the number of dimensions. If a single int, the cell size is determined by dividing the longest side by dimensions.
bounds (pair of 3-vectors, optional) – specifies the minimum and maximum range of the grid. If not given, calculated by the
aggregator (str or pair) – either ‘max’, ‘min’, ‘sum’, ‘average’, or a pair of functions (f,g) giving an arbitrary aggregator f(x,value) -> x’, g(x) -> float. x is an arbitrary object, which for each cell is initialized to the value specified by initial_value (default None).
initial_value (float or 'auto') – the initial value of the cell before aggregation. If aggregator is a pair of functions, ‘auto’ sets x to None by default.
- klampt.model.workspace.compute_workspace(link, constraint_or_point, Nsamples=100000, resolution=0.05, dimensions=None, fixed_links=None, qmin=None, qmax=None, obstacles=None, load=None, load_type=None, gravity=(0, 0, -9.8), self_collision=True, feasibility_test=None, value='occupancy', all_tests=True)[source]
Compute the reachable workspace of a point on a robot’s end effector. Has several options to ensure various feasibility conditions. Ensures that the robot does not collide with itself, optionally with obstacles.
- Return type:
Union[OccupancyGrid,Dict[str,OccupancyGrid]]- Parameters:
link (RobotModelLink) – the link on the robot for which the workspace should be computed
constraint_or_point (3-vector or IKObjective) – the point on the link. For fixed orientations, use an IKObjective.
Nsamples (int) – the number of configuration samples to use
resolution (float, 3-vector, or None) – the resolution of the resulting grid.
dimensions (int or 3-vector optional) – if resolution=None and dimensions is given, the number of dimensions. If a single int, the cell size is determined by dividing the longest side by dimensions.
fixed_links (list of int or str, optional) – list of fixed link indices
qmin (Config, optional) – overrides the robots lower joint limits
qmax (Config, optional) – overrides the robots upper joint limits
obstacles (list of RigidObjectModel or TerrainModel) – Ensures that the robot is collision free with environment obstacles
load (float or vector, optional) – a required load capacity, either an isotropic load or a specific vector
load_type (str, optional) – either ‘auto’ (default), ‘isotropic’, ‘force’, ‘torque’, ‘wrench’, ‘force_local’, ‘torque_local’, or ‘wrench_local’.
gravity (3-vector, optional) – if load testing is used, the gravity vector used for gravity compensation.
self_collision (bool) – whether self collision should be tested.
feasibility_test (callable, list, or dict) – a function feasible(q)->bool that tests whether the configuration is feasible. If a list, a list of callables. If a dict, a map of str->callable.
value (str) – either ‘occupancy’, ‘count’, or ‘probability’.
all_tests (bool) – whether to return a dict of results.
- Returns:
The grid of reached points. If
all_tests=True, gives a set of grids of reached points indexed by strings. Key ‘workspace’ gives the reachable workspace of points meeting every feasibility condition. Keys ‘self_collision_free’, ‘obstacle_X_collision_free’ (X in range 0,…,len(obstacles)-1), ‘load’, ‘feasibility_test’ give the set of points passing each feasibility condition.
- klampt.model.workspace.compute_workspace_field(link, constraint_or_point, value, Nsamples=100000, resolution=0.05, dimensions=None, fixed_links=None, qmin=None, qmax=None, obstacles=None, load=None, load_type=None, gravity=(0, 0, -9.8), self_collision=True, feasibility_test=None, default_value=0.0)[source]
Compute a scalar field over the reachable workspace of a point on a robot’s end effector. Has several options to ensure various feasibility conditions. Ensures that the robot does not collide with itself, optionally with obstacles.
- Return type:
- Parameters:
link (RobotModelLink) – the link on the robot for which the workspace should be computed
constraint_or_point (3-vector or IKObjective) – the point on the link. For fixed orientations, use an IKObjective.
value (str or callable) – ‘occupancy’, ‘manipulability’, ‘max manipulability’, ‘min manipulability’, ‘load’, or an arbitrary function f(q) -> float.
Nsamples (int) – the number of configuration samples to use
resolution (float, 3-vector, or None) – the resolution of the resulting grid.
dimensions (int or 3-vector optional) – if resolution=None and dimensions is given, the number of dimensions. If a single int, the cell size is determined by dividing the longest side by dimensions.
fixed_links (list of int or str, optional) – list of fixed link indices
qmin (Config, optional) – overrides the robots lower joint limits
qmax (Config, optional) – overrides the robots upper joint limits
obstacles (list of RigidObjectModel or TerrainModel) – Ensures that the robot is collision free with environment obstacles
load (float or vector, optional) – a required load capacity, either an isotropic load or a specific vector
load_type (str, optional) – either ‘auto’ (default), ‘isotropic’, ‘force’, ‘torque’, ‘wrench’, ‘force_local’, ‘torque_local’, or ‘wrench_local’.
gravity (3-vector, optional) – if load testing is used, the gravity vector used for gravity compensation.
self_collision (bool) – whether self collision should be tested.
feasibility_test (callable, list, or dict) – a function feasible(q)->bool that tests whether the configuration is feasible. If a list, a list of callables. If a dict, a map of str->callable.
default_value (float, optional) – the default value of the field.
- Returns:
The grid of reached points. If
all_tests=True, gives a set of grids of reached points. Key ‘workspace’ gives the reachable workspace of points meeting every feasibility condition. Keys ‘self_collision_free’, ‘obstacle_X_collision_free’ (X in range 0,…,len(obstacles)-1), ‘load’, ‘feasibility_test’ give the set of points passing each feasibility condition.