concepts.simulator.shapely_kinematics.shapely_kinematics.ShapelyKinematicsSimulator

class ShapelyKinematicsSimulator

Bases: object

Methods

add_circle(label, radius[, center, rotation])
add_object(label, shape[, center, rotation])
add_polygon(label, vertices[, center, rotation])
get_object_pose(label)
pairwise_collision([shape_a, shape_b])
plot(ax)
set_object_pose(label[, center, rotation])

Attributes

objects

The objects in the scene.

__init__()

__new__(**kwargs)

add_circle(label, radius, center=None, rotation=0)

Parameters:

• label (str)

• radius (float)

• center (Tuple[float, float] | None)

• rotation (float)

add_object(label, shape, center=None, rotation=0)

Parameters:

• label (str)

• shape (ShapelyCustomCircle | Polygon)

• center (Tuple[float, float] | None)

• rotation (float)

add_polygon(label, vertices, center=None, rotation=0)

Parameters:

• label (str)

• vertices (Sequence[Tuple[float, float]])

• center (Tuple[float, float] | None)

• rotation (float)

get_object_pose(label)

Parameters:

label (str)

Return type:

Tuple[Point, float]

pairwise_collision(shape_a=None, shape_b=None)

Parameters:

• shape_a (Sequence[ShapelyObject] | None)

• shape_b (Sequence[ShapelyObject] | None)

Return type:

List[Tuple[ShapelyObject, ShapelyObject]]

plot(ax)

Parameters:

ax (Axes)

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.