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how to convert 3d volumetric grid into a world? #37


I have converted my 3d numpy array to a 3d volumetric grid but how do i convert it to a world such that voxels with labels 1 and 3 are obstacles?

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To use this as an obstacle geometry, you could create a VolumeGrid with a 1 where the obstacles exist, and a -1 where they do not. Then, you could call

grid_geometry = Geometry3D(grid)

then set up a collision detection subroutine that checks collision with each robot link:

for i in range(robot.numLinks()):
    if grid_geometry.collides(
        return True
return False