def test_collision_element_api(self): # Verify construction from both Isometry3d and 4x4 arrays. box_element = shapes.Box([1.0, 1.0, 1.0]) box_collision_element_np = CollisionElement(box_element, np.eye(4)) box_collision_element_isom = CollisionElement( box_element, Isometry3.Identity()) body = RigidBody() box_collision_element_isom.set_body(body) self.assertEqual(box_collision_element_isom.get_body(), body)
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") # 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)
def test_collision_element_api(self): # Verify construction from both Isometry3d and 4x4 arrays. box_element = shapes.Box([1.0, 1.0, 1.0]) box_collision_element_np = CollisionElement(box_element, np.eye(4)) box_collision_element_isom = CollisionElement(box_element, Isometry3.Identity()) body = RigidBody() box_collision_element_isom.set_body(body) self.assertEqual(box_collision_element_isom.get_body(), body)