src/conntact/assembly_tools.py
def checkIfColliding(self, commandedForce:np.ndarray, deadzoneRadius:list = [4,4,3], relativeScaling:float = .1)->bool:
        """Checks if  an equal and opposite reaction force is stopping acceleration in all directions - this would indicate there is a static obstacle in collision with the tcp.
        """
        force = self.as_array(self._average_wrench_world.force).reshape(3)
        res = np.allclose(force, -1*commandedForce, atol = deadzoneRadius, rtol = relativeScaling )
        
        # rospy.loginfo_throttle(1,Fore.BLUE +  "Collision checking force " + str(force) + " against command " + str(commandedForce*-1) + ' with a result of ' + str(res) + " and the difference is " + str(force + commandedForce) + Style.RESET_ALL)

        return res
        # if(type(lowerThresholds) == type(None)):
        #     lowerThresholds = -1 * upperThresholds
        # return self.vectorRegionCompare(self.as_array(self._average_wrench_world.force)-commandedForce, upperThresholds, lowerThresholds)
Checks if  an equal and opposite reaction force is stopping acceleration in all directions - this would indicate there is a static obstacle in collision with the tcp.
        
Checks if  an equal and opposite reaction force is stopping acceleration in all directions - this would indicate there is a static obstacle in collision with the tcp.
Checks if an equal and opposite reaction force is stopping acceleration in all directions - this would indicate there is a static obstacle in collision with the tcp .
def checkIfColliding(self, commandedForce:np.ndarray, deadzoneRadius:list = [4,4,3], relativeScaling:float = .1)->bool:
        force = self.as_array(self._average_wrench_world.force).reshape(3)
        res = np.allclose(force, -1*commandedForce, atol = deadzoneRadius, rtol = relativeScaling )
        return res
def checkIfColliding ( self , commandedForce : np . ndarray , deadzoneRadius : list = [ 4 , 4 , 3 ] , relativeScaling : float = .1 ) -> bool : force = self . as_array ( self . _average_wrench_world . force ) . reshape ( 3 ) res = np . allclose ( force , - 1 * commandedForce , atol = deadzoneRadius , rtol = relativeScaling ) return res
Checks if  an equal and opposite reaction force is stopping acceleration in all directions - this would indicate there is a static obstacle in collision with the tcp.
Checks if an equal and opposite reaction force is stopping acceleration in all directions - this would indicate there is a static obstacle in collision with the tcp .
"""Checks if  an equal and opposite reaction force is stopping acceleration in all directions - this would indicate there is a static obstacle in collision with the tcp.
        """ # rospy.loginfo_throttle(1,Fore.BLUE +  "Collision checking force " + str(force) + " against command " + str(commandedForce*-1) + ' with a result of ' + str(res) + " and the difference is " + str(force + commandedForce) + Style.RESET_ALL) # if(type(lowerThresholds) == type(None)): #     lowerThresholds = -1 * upperThresholds # return self.vectorRegionCompare(self.as_array(self._average_wrench_world.force)-commandedForce, upperThresholds, lowerThresholds)
self
commandedForce
np.ndarray
deadzoneRadius
list
relativeScaling
float