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+  <h1>Source code for armour.agent.ArmourAgentCollision</h1><div class="highlight"><pre>
+<span></span><span class="kn">from</span> <span class="nn">trimesh</span> <span class="kn">import</span> <span class="n">Trimesh</span>
+<span class="kn">from</span> <span class="nn">rtd.sim.systems.collision</span> <span class="kn">import</span> <span class="n">DynamicCollisionObject</span><span class="p">,</span> <span class="n">CollisionObject</span>
+<span class="kn">from</span> <span class="nn">armour.agent</span> <span class="kn">import</span> <span class="n">ArmourAgentInfo</span><span class="p">,</span> <span class="n">ArmourAgentState</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">from</span> <span class="nn">collections</span> <span class="kn">import</span> <span class="n">OrderedDict</span>
+<span class="kn">from</span> <span class="nn">rtd.util.mixins.Typings</span> <span class="kn">import</span> <span class="n">Matnp</span>
+
+
+
+<div class="viewcode-block" id="ArmourAgentCollision"><a class="viewcode-back" href="../../../simulation/components.html#armour.agent.ArmourAgentCollision">[docs]</a><span class="k">class</span> <span class="nc">ArmourAgentCollision</span><span class="p">(</span><span class="n">DynamicCollisionObject</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">arm_info</span><span class="p">:</span> <span class="n">ArmourAgentInfo</span><span class="p">,</span> <span class="n">arm_state</span><span class="p">:</span> <span class="n">ArmourAgentState</span><span class="p">):</span>
+        <span class="c1"># initialize base classes</span>
+        <span class="n">DynamicCollisionObject</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+        <span class="c1"># initialize</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">arm_info</span> <span class="o">=</span> <span class="n">arm_info</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">arm_state</span> <span class="o">=</span> <span class="n">arm_state</span>
+
+        <span class="c1"># self.reset()</span>
+
+
+<div class="viewcode-block" id="ArmourAgentCollision.reset"><a class="viewcode-back" href="../../../simulation/components.html#armour.agent.ArmourAgentCollision.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&#39;&#39;&#39;</span>
+<span class="sd">        Not needed as collision objects are created on demand</span>
+<span class="sd">        &#39;&#39;&#39;</span>
+        <span class="k">pass</span></div>
+
+
+<div class="viewcode-block" id="ArmourAgentCollision.getCollisionObject"><a class="viewcode-back" href="../../../simulation/components.html#armour.agent.ArmourAgentCollision.getCollisionObject">[docs]</a>    <span class="k">def</span> <span class="nf">getCollisionObject</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">q</span><span class="p">:</span> <span class="n">Matnp</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">time</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">CollisionObject</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&#39;&#39;&#39;</span>
+<span class="sd">        Generates a CollisionObject for a given time `time` or</span>
+<span class="sd">        configuration `q` (only one or none must be provided)</span>
+<span class="sd">        &#39;&#39;&#39;</span>
+        <span class="n">config</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">arm_state</span><span class="o">.</span><span class="n">position</span><span class="p">[:,</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>  <span class="c1"># default to last position</span>
+        <span class="k">if</span> <span class="n">time</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">q</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">config</span> <span class="o">=</span> <span class="n">q</span>
+        <span class="k">elif</span> <span class="n">time</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">q</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">config</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">arm_state</span><span class="o">.</span><span class="n">get_state</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">time</span><span class="p">]))</span><span class="o">.</span><span class="n">position</span>   <span class="c1"># position at given time</span>
+
+        <span class="n">fk</span><span class="p">:</span> <span class="n">OrderedDict</span><span class="p">[</span><span class="n">Trimesh</span><span class="p">,</span> <span class="n">Matnp</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">arm_info</span><span class="o">.</span><span class="n">urdf</span><span class="o">.</span><span class="n">collision_trimesh_fk</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">config</span><span class="p">)</span>
+        <span class="n">meshes</span> <span class="o">=</span> <span class="p">[</span><span class="n">mesh</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span><span class="o">.</span><span class="n">apply_transform</span><span class="p">(</span><span class="n">transform</span><span class="p">)</span> <span class="k">for</span> <span class="n">mesh</span><span class="p">,</span> <span class="n">transform</span> <span class="ow">in</span> <span class="n">fk</span><span class="o">.</span><span class="n">items</span><span class="p">()]</span>
+        <span class="k">return</span> <span class="n">CollisionObject</span><span class="p">(</span><span class="n">meshes</span><span class="p">,</span> <span class="nb">id</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">arm_info</span><span class="p">))</span></div>
+
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+        <span class="k">return</span> <span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Collision component </span><span class="si">{</span><span class="nb">repr</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span><span class="si">}</span><span class="s2"> with properties:</span><span class="se">\n</span><span class="s2">&quot;</span> <span class="o">+</span> 
+                <span class="sa">f</span><span class="s2">&quot;   arm_info:  </span><span class="si">{</span><span class="nb">repr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">arm_info</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span> <span class="o">+</span>
+                <span class="sa">f</span><span class="s2">&quot;   arm_state: </span><span class="si">{</span><span class="nb">repr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">arm_state</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>  </div>
+</pre></div>
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