def make_box(name, pose, size): """ Creates a box collision object. :param name: name of the box :type: str :param pose: position of the box :type: PoseStamped :param size: box size :type: [float(x), float(y), float(z)] :return: box collision object :type: CollisionObject """ co = CollisionObject() co.operation = CollisionObject.ADD co.id = name co.header = pose.header box = SolidPrimitive() box.type = SolidPrimitive.BOX box.dimensions = list(size) co.primitives = [box] co.primitive_poses = [pose.pose] return co
def make_cylinder(name, pose, size): """ Creates a cylinder collision object. :param name: name of the cylinder :type: str :param pose: position of the cylinder :type: PoseStamped :param size: cylinder size :type: [float(height), float(radius)] :return: cylinder collisionobject :type: CollisionObject """ co = CollisionObject() co.operation = CollisionObject.ADD co.id = name co.header = pose.header cylinder = SolidPrimitive() cylinder.type = SolidPrimitive.CYLINDER cylinder.dimensions = list(size) co.primitives = [cylinder] co.primitive_poses = [pose.pose] return co