def test_joints_api(self):
# Verify construction from both Isometry3d and 4x4 arrays,
# and sanity-check that the accessors function.
name = "z"
prismatic_joint_np = PrismaticJoint(name, np.eye(4),
np.array([0., 0., 1.]))
prismatic_joint_isom = PrismaticJoint(name, Isometry3.Identity(),
np.array([0., 0., 1.]))
self.assertEqual(prismatic_joint_isom.get_num_positions(), 1)
self.assertEqual(prismatic_joint_isom.get_name(), name)
name = "theta"
revolute_joint_np = RevoluteJoint(name, np.eye(4),
np.array([0., 0., 1.]))
revolute_joint_isom = RevoluteJoint(name, Isometry3.Identity(),
np.array([0., 0., 1.]))
self.assertEqual(revolute_joint_isom.get_num_positions(), 1)
self.assertEqual(revolute_joint_isom.get_name(), name)
def test_joints_api(self):
# Verify construction from both Isometry3d and 4x4 arrays,
# and sanity-check that the accessors function.
name = "z"
prismatic_joint_np = PrismaticJoint(name, np.eye(4),
np.array([0., 0., 1.]))
prismatic_joint_isom = PrismaticJoint(name, Isometry3.Identity(),
np.array([0., 0., 1.]))
self.assertEqual(prismatic_joint_isom.get_num_positions(), 1)
self.assertEqual(prismatic_joint_isom.get_name(), name)
name = "theta"
revolute_joint_np = RevoluteJoint(name, np.eye(4),
np.array([0., 0., 1.]))
revolute_joint_isom = RevoluteJoint(name, Isometry3.Identity(),
np.array([0., 0., 1.]))
self.assertEqual(revolute_joint_isom.get_num_positions(), 1)
self.assertEqual(revolute_joint_isom.get_name(), name)
def test_rigid_body_tree_programmatic_construction(self):
# Tests RBT programmatic construction methods by assembling
# a simple RBT with a prismatic and revolute joint, with
# both visual and collision geometry on the last joint.
rbt = RigidBodyTree()
world_body = rbt.world()
# body_1 is connected to the world via a prismatic joint along
# the +z axis.
body_1 = RigidBody()
body_1.set_name("body_1")
body_1_joint = PrismaticJoint("z", np.eye(4), np.array([0., 0., 1.]))
body_1.add_joint(world_body, body_1_joint)
rbt.add_rigid_body(body_1)
# body_2 is connected to body_1 via a revolute joint around the z-axis.
body_2 = RigidBody()
body_2.set_name("body_2")
body_2_joint = RevoluteJoint("theta", np.eye(4), np.array([0., 0.,
1.]))
body_2.add_joint(body_1, body_2_joint)
box_element = shapes.Box([1.0, 1.0, 1.0])
box_visual_element = shapes.VisualElement(box_element, np.eye(4),
[1., 0., 0., 1.])
body_2.AddVisualElement(box_visual_element)
body_2_visual_elements = body_2.get_visual_elements()
rbt.add_rigid_body(body_2)
box_collision_element = CollisionElement(box_element, np.eye(4))
box_collision_element.set_body(body_2)
rbt.addCollisionElement(box_collision_element, body_2, "default")
# Define a collision filter group containing bodies 1 and 2 and make
# that group ignore itself.
rbt.DefineCollisionFilterGroup(name="test_group")
rbt.AddCollisionFilterGroupMember(group_name="test_group",
body_name="body_1",
model_id=0)
rbt.AddCollisionFilterGroupMember(group_name="test_group",
body_name="body_2",
model_id=0)
rbt.AddCollisionFilterIgnoreTarget("test_group", "test_group")
self.assertFalse(rbt.initialized())
rbt.compile()
self.assertTrue(rbt.initialized())
# The RBT's position vector should now be [z, theta].
self.assertEqual(body_1.get_position_start_index(), 0)
self.assertEqual(body_2.get_position_start_index(), 1)
self.assertIsNotNone(
rbt.FindCollisionElement(body_2.get_collision_element_ids()[0]))
def test_rigid_body_tree_programmatic_construction(self):
# Tests RBT programmatic construction methods by assembling
# a simple RBT with a prismatic and revolute joint, with
# both visual and collision geometry on the last joint.
rbt = RigidBodyTree()
world_body = rbt.world()
# body_1 is connected to the world via a prismatic joint along
# the +z axis.
body_1 = RigidBody()
body_1.set_name("body_1")
body_1_joint = PrismaticJoint("z", np.eye(4),
np.array([0., 0., 1.]))
body_1.add_joint(world_body, body_1_joint)
rbt.add_rigid_body(body_1)
# body_2 is connected to body_1 via a revolute joint around the z-axis.
body_2 = RigidBody()
body_2.set_name("body_2")
body_2_joint = RevoluteJoint("theta", np.eye(4),
np.array([0., 0., 1.]))
body_2.add_joint(body_1, body_2_joint)
box_element = shapes.Box([1.0, 1.0, 1.0])
box_visual_element = shapes.VisualElement(
box_element, np.eye(4), [1., 0., 0., 1.])
body_2.AddVisualElement(box_visual_element)
body_2_visual_elements = body_2.get_visual_elements()
rbt.add_rigid_body(body_2)
box_collision_element = CollisionElement(box_element, np.eye(4))
box_collision_element.set_body(body_2)
rbt.addCollisionElement(box_collision_element, body_2, "default")
rbt.compile()
# The RBT's position vector should now be [z, theta].
self.assertEqual(body_1.get_position_start_index(), 0)
self.assertEqual(body_2.get_position_start_index(), 1)
