Seed the simulation

active_grasp/bbox.py

@@ -0,0 +1,26 @@
+import numpy as np
+
+import active_grasp.msg
+from robot_helpers.ros.conversions import to_point_msg, from_point_msg
+
+
+class AABBox:
+    def __init__(self, bbox_min, bbox_max):
+        self.min = bbox_min
+        self.max = bbox_max
+
+    def is_inside(self, p):
+        return np.all(p > self.min) and np.all(p < self.max)
+
+
+def from_bbox_msg(msg):
+    aabb_min = from_point_msg(msg.min)
+    aabb_max = from_point_msg(msg.max)
+    return AABBox(aabb_min, aabb_max)
+
+
+def to_bbox_msg(bbox):
+    msg = active_grasp.msg.AABBox()
+    msg.min = to_point_msg(bbox.min)
+    msg.max = to_point_msg(bbox.max)
+    return msg