| 199 | |
| 200 | |
| 201 | def addFloor(geom_model: pin.GeometryModel, visual_model: pin.GeometryModel): |
| 202 | floor_collision_shape = hppfcl.Halfspace(0, 0, 1, 0) |
| 203 | M = pin.SE3.Identity() |
| 204 | floor_collision_object = pin.GeometryObject("floor", 0, 0, M, floor_collision_shape) |
| 205 | floor_collision_object.meshColor = np.array([0.5, 0.5, 0.5, 0.5]) |
| 206 | geom_model.addGeometryObject(floor_collision_object) |
| 207 | |
| 208 | h = 0.01 |
| 209 | floor_visual_shape = hppfcl.Box(20, 20, h) |
| 210 | Mvis = pin.SE3.Identity() |
| 211 | Mvis.translation = np.array([0.0, 0.0, -h / 2]) |
| 212 | floor_visual_object = pin.GeometryObject("floor", 0, 0, Mvis, floor_visual_shape) |
| 213 | floor_visual_object.meshColor = np.array([0.5, 0.5, 0.5, 0.4]) |
| 214 | visual_model.addGeometryObject(floor_visual_object) |
| 215 | |
| 216 | |
| 217 | def addMaterialAndCompliance(geom_model, material: str, compliance: float): |