concepts.simulator.shapely_kinematics.shapely_kinematics.ShapelyKinematicsSimulator

class ShapelyKinematicsSimulator

Bases: object

Methods

add_object(label, center, vertices)
pairwise_collision(shape_a, shape_b)
set_object_pose(label[, center, rotation])

Attributes

objects

The objects in the scene.

__init__()

__new__(**kwargs)

add_object(label, center, vertices)

pairwise_collision(shape_a, shape_b)

Parameters:

• shape_a (Sequence[ShapelyObject] | None)

• shape_b (Sequence[ShapelyObject] | None)

Return type:

List[Tuple[ShapelyObject, ShapelyObject]]

set_object_pose(label, center=None, rotation=None)

objects: Dict[str, ShapelyObject]

The objects in the scene. The key is the name of the object, and the value is the ShapelyObject instance.