def test2_1(self): co = CollisionObject() co.operation = CollisionObject.ADD co.id = "muh" co.header.frame_id = "/odom_combined" cylinder = SolidPrimitive() cylinder.type = SolidPrimitive.CYLINDER cylinder.dimensions.append(0.3) cylinder.dimensions.append(0.03) co.primitives = [cylinder] co.primitive_poses = [Pose()] co.primitive_poses[0].position = Point(1.2185, 0, 0) co.primitive_poses[0].orientation = Quaternion(0, 0, 0, 1) box = SolidPrimitive() box.type = SolidPrimitive.BOX box.dimensions.append(0.1) box.dimensions.append(0.1) box.dimensions.append(0.1) co.primitives.append(box) co.primitive_poses.append(Pose()) co.primitive_poses[1].position = Point(1.1185, 0, 0) co.primitive_poses[1].orientation = Quaternion(0, 0, 0, 1) co.primitives.append(box) co.primitive_poses.append(Pose()) co.primitive_poses[2].position = Point(0, 0, 0) co.primitive_poses[2].orientation = Quaternion(0, 0, 0, 1) p = PoseStamped() p.header.frame_id = "/odom_combined" p.pose.position = Point(1, 0, 0) p.pose.orientation = euler_to_quaternion(0, 0, 0) self.assertEqual(get_grasped_part(co, get_fingertip(p))[1], 0)
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
def test2_1(self): co = CollisionObject() co.operation = CollisionObject.ADD co.id = "muh" co.header.frame_id = "/odom_combined" cylinder = SolidPrimitive() cylinder.type = SolidPrimitive.CYLINDER cylinder.dimensions.append(0.3) cylinder.dimensions.append(0.03) co.primitives = [cylinder] co.primitive_poses = [Pose()] co.primitive_poses[0].position = Point(1.2185, 0,0) co.primitive_poses[0].orientation = Quaternion(0,0,0,1) box = SolidPrimitive() box.type = SolidPrimitive.BOX box.dimensions.append(0.1) box.dimensions.append(0.1) box.dimensions.append(0.1) co.primitives.append(box) co.primitive_poses.append(Pose()) co.primitive_poses[1].position = Point(1.1185, 0,0) co.primitive_poses[1].orientation = Quaternion(0,0,0,1) co.primitives.append(box) co.primitive_poses.append(Pose()) co.primitive_poses[2].position = Point(0, 0,0) co.primitive_poses[2].orientation = Quaternion(0,0,0,1) p = PoseStamped() p.header.frame_id = "/odom_combined" p.pose.position = Point(1,0,0) p.pose.orientation = euler_to_quaternion(0,0,0) self.assertEqual(get_grasped_part(co, get_fingertip(p))[1], 0)