[pickup/place_action] Fixed test for empty goal orientation

Both None and empty list have to be covered
b-it-bots · Jan 6, 2021 · 2dc3809 · 2dc3809
1 parent d9ef475
commit 2dc3809
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/...ons/mdr_manipulation_actions/mdr_pickup_action/ros/src/mdr_pickup_action/action_states.py b/...ons/mdr_manipulation_actions/mdr_pickup_action/ros/src/mdr_pickup_action/action_states.py
@@ -102,7 +102,7 @@ def running(self):
             # y position of the goal pose to the elbow offset
             pose_base_link.pose.position.y = self.base_elbow_offset
 
-        if self.grasping_orientation is not None:
+        if self.grasping_orientation:
             pose_base_link.pose.orientation.x = self.grasping_orientation[0]
             pose_base_link.pose.orientation.y = self.grasping_orientation[1]
             pose_base_link.pose.orientation.z = self.grasping_orientation[2]

diff --git a/...tions/mdr_manipulation_actions/mdr_place_action/ros/src/mdr_place_action/action_states.py b/...tions/mdr_manipulation_actions/mdr_place_action/ros/src/mdr_place_action/action_states.py
@@ -72,7 +72,7 @@ def running(self):
         pose = self.goal.pose
         pose.header.stamp = rospy.Time(0)
         pose_base_link = self.tf_listener.transformPose('base_link', pose)
-        if self.placing_orientation is not None:
+        if self.placing_orientation:
             pose_base_link.pose.orientation.x = self.placing_orientation[0]
             pose_base_link.pose.orientation.y = self.placing_orientation[1]
             pose_base_link.pose.orientation.z = self.placing_orientation[2]