Add an example of using point cloud for motion planning in Python#94
Merged
zkingston merged 7 commits intoKavrakiLab:mainfrom Feb 26, 2026
Merged
Add an example of using point cloud for motion planning in Python#94zkingston merged 7 commits intoKavrakiLab:mainfrom
zkingston merged 7 commits intoKavrakiLab:mainfrom
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WeihangGuo
commented
Feb 24, 2026
WeihangGuo
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zkingston
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Feb 25, 2026
scripts/filter_point_cloud_capt.py
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| def sample_sphere_surface(center, radius, n_points): | ||
| # Random spherical coordinates | ||
| phi = np.random.uniform(0, 2 * np.pi, n_points) | ||
| cos_theta = np.random.uniform(-1, 1, n_points) | ||
| theta = np.arccos(cos_theta) | ||
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| x = radius * np.sin(theta) * np.cos(phi) | ||
| y = radius * np.sin(theta) * np.sin(phi) | ||
| z = radius * np.cos(theta) | ||
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| points = np.vstack((x, y, z)).T | ||
| return points + center |
Collaborator
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We already have this function in
Line 29 in 9b7ece5
scripts/filter_point_cloud_capt.py
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| 10, # max_range | ||
| [0.0, 0.0, 0.0], # origin | ||
| [-2.0, -2.0, -2.0], # workcell_min | ||
| [2.0, 2.0, 2.0], # workcell_max | ||
| True # cull |
Collaborator
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Should these perhaps be exposed as command line args if this script is supposed to demonstrate the filtering of the PC?
scripts/sphere_cage_example_capt.py
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| def sample_sphere_surface(center, radius, n_points): |
scripts/sphere_cage_example_capt.py
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| [sample_sphere_surface(center, obstacle_radius, points_per_sphere) for center in problem] | ||
| ) | ||
| point_cloud_colors = np.random.randint(100, 200, (point_cloud.shape[0], 3)) | ||
| # point_cloud_colors = np.tile((255, 192, 203), (point_cloud.shape[0], 1)) |
scripts/sphere_cage_example_capt.py
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| tf = np.identity(4) | ||
| tf[:3, 3] = np.array([0, 0, attachment_offset]) | ||
| attachment = vamp.Attachment(tf) | ||
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| # Add a single sphere to the attachment - spheres are added in the attachment's local frame | ||
| attachment.add_spheres([vamp.Sphere([0, 0, 0], attachment_radius)]) |
Collaborator
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Is the attachment stuff necessary for this script as well?
…sphere_sample_surface()` in the capt pointcloud demo
…n the capt pointcloud demo
…achment-related code in capt sphere cage example
Contributor
Author
|
@zkingston Thank you for reviewing. I have addressed the comments. |
zkingston
approved these changes
Feb 26, 2026
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