klampt.plan.contactcspace module

Classes:

`StanceCSpace`(robot, holds[, collider, ...])	A cspace with contacts that impose closed-chain constraints between a robot and zero or more objects.
`TransitionCSpace`(space1, space2)	A configuration space for a transition between stances.
`MultiContactCSpace`(robot, contacts[, ...])	A cspace with contacts that impose closed-chain constraints between a robot and zero or more objects.

class klampt.plan.contactcspace.StanceCSpace(robot, holds, collider=None, world=None, checkTorqueLimits=False)[source]

Bases: ClosedLoopRobotCSpace

A cspace with contacts that impose closed-chain constraints between a robot and zero or more objects. Stability of the robot is also enforced.

Collisions are not checked between the world and fixed robot links, or contacting links that are initially already colliding with the world.

robot, collider, solver, tol, maxIters: inherited from ClosedLoopRobotCSpace

gravity: the gravity vector (default [0,0,-9.8] – currently cannot accept anything else)

holds

a list of Holds associated with the contacts.

Type:: list of Hold

sp

the support polygon planes resulting from contact.supportPolygon(holds)

Type:: list

equilibriumMargin

Can enforce that the COM needs to be within the support polygon shrunk by some safety margin. default value is 0.

Type:: float

Methods:

testSupportPolygon(q)

Returns True if the robot's COM is in the support polygon at configuration q.

testSupportPolygon(q)[source]: Returns True if the robot’s COM is in the support polygon at configuration q.

class klampt.plan.contactcspace.TransitionCSpace(space1, space2)[source]

Bases: ClosedLoopRobotCSpace

A configuration space for a transition between stances. For this to be meaningful, the holds of one stance must be a superset of the holds of the other.

Parameters:

space1 (StanceCSpace) – the first stance.
space2 (StanceCSpace) – the second stance.

class klampt.plan.contactcspace.MultiContactCSpace(robot, contacts, stabilityTestObjects=None, collider=None)[source]

Bases: CompositeCSpace

A cspace with contacts that impose closed-chain constraints between a robot and zero or more objects.

Warning

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.

gravity: the gravity vector (default [0,0,-9.8])

contactMap

a dictionary mapping (obj1,obj2) pairs to lists of contacts. Same structures that results from contactMap().

Type:: dict

holds

a list of Holds associated with the contacts.

Type:: list of Hold

robotCSpace

a ClosedLoopRobotCSpace for the robot

Type:: ClosedLoopRobotCSpace

objectCSpaces

a list of RigidObjectCSpace’s for each moving object.

Type:: list of RigidObjectCSpace

movingObjects

a list of moving robots and rigid objects.

Type:: list

stabilityTestObjects

a list of moving robots and rigid objects that will be stability tested.

Type:: list

supportPolygon

a list of supportPolygon planes (result from contact.supportPolygon()).

Type:: list

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 Hold, 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.