Merge lp:~guihome/sr-manipulation/manip-electric_corr3 into lp:sr-manipulation
- manip-electric_corr3
- Merge into trunk
Proposed by
Guillaume W.
| Status: | Merged |
|---|---|
| Merged at revision: | 316 |
| Proposed branch: | lp:~guihome/sr-manipulation/manip-electric_corr3 |
| Merge into: | lp:sr-manipulation |
| Diff against target: |
4232 lines (+2424/-1366) 23 files modified
shadow_arm_navigation/config/joint_limits.yaml (+12/-12) shadow_arm_navigation/config/ompl_planning.yaml (+9/-9) shadow_arm_navigation/config/shadow_planning_description.yaml (+1092/-1253) shadow_arm_navigation/launch/constraint_aware_kinematics.launch (+1/-1) shadow_arm_navigation/launch/shadow_arm_navigation.launch (+1/-1) sr_gui_manipulation/lib/SrGuiManipulation.py (+177/-63) sr_gui_manipulation/manifest.xml (+1/-0) sr_object_manipulation_launch/config/gazebo_tactile_thresholds.yaml (+10/-10) sr_object_manipulation_launch/config/hand_description.yaml (+1/-1) sr_object_manipulation_launch/config/household_object_server.yaml (+2/-2) sr_object_manipulation_launch/config/self_filter.yaml (+1/-1) sr_object_manipulation_launch/launch/arm_and_hand_motor.launch (+1/-1) sr_object_manipulation_launch/launch/collision_map.launch (+1/-1) sr_object_manipulation_launch/launch/kinect_static_transform.launch (+4/-2) sr_object_manipulation_launch/launch/manipulator.launch (+4/-4) sr_object_manipulation_launch/launch/static_transform.launch (+2/-4) sr_object_manipulation_launch/launch/tabletop_node.launch (+1/-1) sr_pick_and_place/CMakeLists.txt (+30/-0) sr_pick_and_place/Makefile (+1/-0) sr_pick_and_place/mainpage.dox (+14/-0) sr_pick_and_place/manifest.xml (+21/-0) sr_pick_and_place/src/execution.py (+601/-0) sr_pick_and_place/src/planification.py (+437/-0) |
| To merge this branch: | bzr merge lp:~guihome/sr-manipulation/manip-electric_corr3 |
| Related bugs: |
| Reviewer | Review Type | Date Requested | Status |
|---|---|---|---|
| Shadow Robot | Pending | ||
|
Review via email:
|
|||
Commit message
Description of the change
Mainly added sr_pick_and_place
and cleaned some unused stuff (frames, platform, collision pairs etc...) + updated some others for this new object_
To post a comment you must log in.
Revision history for this message
| Ugo (ugocupcic) wrote : | # |
Preview Diff
[H/L] Next/Prev Comment, [J/K] Next/Prev File, [N/P] Next/Prev Hunk
| 1 | === modified file 'shadow_arm_navigation/config/joint_limits.yaml' |
| 2 | --- shadow_arm_navigation/config/joint_limits.yaml 2012-07-27 20:16:07 +0000 |
| 3 | +++ shadow_arm_navigation/config/joint_limits.yaml 2012-10-31 08:29:25 +0000 |
| 4 | @@ -2,42 +2,42 @@ |
| 5 | ShoulderJRotate: |
| 6 | has_position_limits: true |
| 7 | has_velocity_limits: true |
| 8 | - max_velocity: 0.5 |
| 9 | + max_velocity: 0.1 |
| 10 | has_acceleration_limits: true |
| 11 | - max_acceleration: 1 |
| 12 | + max_acceleration: 0.5 |
| 13 | angle_wraparound: false |
| 14 | ShoulderJSwing: |
| 15 | has_position_limits: true |
| 16 | has_velocity_limits: true |
| 17 | - max_velocity: 0.5 |
| 18 | + max_velocity: 0.1 |
| 19 | has_acceleration_limits: true |
| 20 | - max_acceleration: 1 |
| 21 | + max_acceleration: 0.5 |
| 22 | angle_wraparound: false |
| 23 | ElbowJSwing: |
| 24 | has_position_limits: true |
| 25 | has_velocity_limits: true |
| 26 | - max_velocity: 0.5 |
| 27 | + max_velocity: 0.1 |
| 28 | has_acceleration_limits: true |
| 29 | - max_acceleration: 1 |
| 30 | + max_acceleration: 0.5 |
| 31 | angle_wraparound: false |
| 32 | ElbowJRotate: |
| 33 | has_position_limits: true |
| 34 | has_velocity_limits: true |
| 35 | - max_velocity: 0.5 |
| 36 | + max_velocity: 0.1 |
| 37 | has_acceleration_limits: true |
| 38 | - max_acceleration: 1 |
| 39 | + max_acceleration: 0.5 |
| 40 | angle_wraparound: false |
| 41 | WRJ2: |
| 42 | has_position_limits: true |
| 43 | has_velocity_limits: true |
| 44 | - max_velocity: 1 |
| 45 | + max_velocity: 0.1 |
| 46 | has_acceleration_limits: true |
| 47 | - max_acceleration: 1 |
| 48 | + max_acceleration: 0.5 |
| 49 | angle_wraparound: false |
| 50 | WRJ1: |
| 51 | has_position_limits: true |
| 52 | has_velocity_limits: true |
| 53 | - max_velocity: 1 |
| 54 | + max_velocity: 0.1 |
| 55 | has_acceleration_limits: true |
| 56 | - max_acceleration: 1 |
| 57 | + max_acceleration: 0.5 |
| 58 | angle_wraparound: false |
| 59 | |
| 60 | === modified file 'shadow_arm_navigation/config/ompl_planning.yaml' |
| 61 | --- shadow_arm_navigation/config/ompl_planning.yaml 2012-02-28 09:17:59 +0000 |
| 62 | +++ shadow_arm_navigation/config/ompl_planning.yaml 2012-10-31 08:29:25 +0000 |
| 63 | @@ -13,7 +13,7 @@ |
| 64 | - LBKPIECEkConfig1 |
| 65 | projection_evaluator: joint_state |
| 66 | right_arm_cartesian: |
| 67 | - parent_frame: desk_support |
| 68 | + parent_frame: shadowarm_base |
| 69 | physical_group: right_arm |
| 70 | planner_type: RPYIKTaskSpacePlanner |
| 71 | state_spaces: |
| 72 | @@ -25,16 +25,16 @@ |
| 73 | - yaw |
| 74 | x: |
| 75 | type: Linear |
| 76 | - min: -2.0 |
| 77 | - max: 2.0 |
| 78 | + min: 0.0 |
| 79 | + max: 1.0 |
| 80 | y: |
| 81 | type: Linear |
| 82 | - min: -2.0 |
| 83 | - max: 2.0 |
| 84 | + min: -0.7 |
| 85 | + max: 0.7 |
| 86 | z: |
| 87 | type: Linear |
| 88 | - min: -2.0 |
| 89 | - max: 2.0 |
| 90 | + min: -0.2 |
| 91 | + max: 1.0 |
| 92 | roll: |
| 93 | type: Revolute |
| 94 | pitch: |
| 95 | @@ -46,6 +46,6 @@ |
| 96 | - LBKPIECEkConfig1 |
| 97 | kinematics_solver: arm_kinematics_constraint_aware/KDLArmKinematicsPlugin |
| 98 | tip_name: palm |
| 99 | - root_name: desk_support |
| 100 | + root_name: shadowarm_base |
| 101 | projection_evaluator: joint_state |
| 102 | - longest_valid_segment_fraction: 0.001 |
| 103 | \ No newline at end of file |
| 104 | + longest_valid_segment_fraction: 0.001 |
| 105 | |
| 106 | === modified file 'shadow_arm_navigation/config/shadow_planning_description.yaml' |
| 107 | --- shadow_arm_navigation/config/shadow_planning_description.yaml 2012-07-25 20:54:34 +0000 |
| 108 | +++ shadow_arm_navigation/config/shadow_planning_description.yaml 2012-10-31 08:29:25 +0000 |
| 109 | @@ -1,22 +1,13 @@ |
| 110 | multi_dof_joints: |
| 111 | - name: world_joint |
| 112 | type: Floating |
| 113 | - parent_frame_id: desk_support |
| 114 | - child_frame_id: desk_support |
| 115 | + parent_frame_id: world |
| 116 | + child_frame_id: world |
| 117 | groups: |
| 118 | - name: right_arm |
| 119 | - base_link: desk_support |
| 120 | + base_link: shadowarm_base |
| 121 | tip_link: palm |
| 122 | default_collision_operations: |
| 123 | - - object1: world |
| 124 | - object2: desk_support |
| 125 | - operation: disable # Adjacent in collision |
| 126 | - - object1: desk_support |
| 127 | - object2: desk_pillar |
| 128 | - operation: disable # Adjacent in collision |
| 129 | - - object1: desk_pillar |
| 130 | - object2: shadowarm_base |
| 131 | - operation: disable # Adjacent in collision |
| 132 | - object1: shadowarm_base |
| 133 | object2: shadowarm_trunk |
| 134 | operation: disable # Adjacent in collision |
| 135 | @@ -27,9 +18,9 @@ |
| 136 | object2: shadowarm_lowerarm |
| 137 | operation: disable # Adjacent in collision |
| 138 | - object1: shadowarm_lowerarm |
| 139 | - object2: shadow_handsupport |
| 140 | + object2: shadowarm_handsupport |
| 141 | operation: disable # Adjacent in collision |
| 142 | - - object1: shadow_handsupport |
| 143 | + - object1: shadowarm_handsupport |
| 144 | object2: forearm |
| 145 | operation: disable # Adjacent in collision |
| 146 | - object1: forearm |
| 147 | @@ -119,1249 +110,1097 @@ |
| 148 | - object1: camera_rgb_frame |
| 149 | object2: camera_rgb_optical_frame |
| 150 | operation: disable # Adjacent in collision |
| 151 | - - object1: desk_pillar |
| 152 | - object2: thproximal |
| 153 | - operation: disable # Default in collision |
| 154 | - object1: forearm |
| 155 | object2: shadowarm_lowerarm |
| 156 | operation: disable # Often in collision |
| 157 | - object1: camera_link |
| 158 | - object2: desk_pillar |
| 159 | - operation: disable # Never in collision |
| 160 | - - object1: camera_link |
| 161 | - object2: desk_support |
| 162 | - operation: disable # Never in collision |
| 163 | - - object1: camera_link |
| 164 | - object2: ffdistal |
| 165 | - operation: disable # Never in collision |
| 166 | - - object1: camera_link |
| 167 | - object2: ffknuckle |
| 168 | - operation: disable # Never in collision |
| 169 | - - object1: camera_link |
| 170 | - object2: ffmiddle |
| 171 | - operation: disable # Never in collision |
| 172 | - - object1: camera_link |
| 173 | - object2: ffproximal |
| 174 | - operation: disable # Never in collision |
| 175 | - - object1: camera_link |
| 176 | - object2: forearm |
| 177 | - operation: disable # Never in collision |
| 178 | - - object1: camera_link |
| 179 | - object2: lfdistal |
| 180 | - operation: disable # Never in collision |
| 181 | - - object1: camera_link |
| 182 | - object2: lfknuckle |
| 183 | - operation: disable # Never in collision |
| 184 | - - object1: camera_link |
| 185 | - object2: lfmetacarpal |
| 186 | - operation: disable # Never in collision |
| 187 | - - object1: camera_link |
| 188 | - object2: lfmiddle |
| 189 | - operation: disable # Never in collision |
| 190 | - - object1: camera_link |
| 191 | - object2: lfproximal |
| 192 | - operation: disable # Never in collision |
| 193 | - - object1: camera_link |
| 194 | - object2: mfdistal |
| 195 | - operation: disable # Never in collision |
| 196 | - - object1: camera_link |
| 197 | - object2: mfknuckle |
| 198 | - operation: disable # Never in collision |
| 199 | - - object1: camera_link |
| 200 | - object2: mfmiddle |
| 201 | - operation: disable # Never in collision |
| 202 | - - object1: camera_link |
| 203 | - object2: mfproximal |
| 204 | - operation: disable # Never in collision |
| 205 | - - object1: camera_link |
| 206 | - object2: palm |
| 207 | - operation: disable # Never in collision |
| 208 | - - object1: camera_link |
| 209 | - object2: rfdistal |
| 210 | - operation: disable # Never in collision |
| 211 | - - object1: camera_link |
| 212 | - object2: rfknuckle |
| 213 | - operation: disable # Never in collision |
| 214 | - - object1: camera_link |
| 215 | - object2: rfmiddle |
| 216 | - operation: disable # Never in collision |
| 217 | - - object1: camera_link |
| 218 | - object2: rfproximal |
| 219 | - operation: disable # Never in collision |
| 220 | - - object1: camera_link |
| 221 | - object2: shadowarm_base |
| 222 | - operation: disable # Never in collision |
| 223 | - - object1: camera_link |
| 224 | - object2: shadow_handsupport |
| 225 | - operation: disable # Never in collision |
| 226 | - - object1: camera_link |
| 227 | - object2: shadowarm_lowerarm |
| 228 | - operation: disable # Never in collision |
| 229 | - - object1: camera_link |
| 230 | - object2: shadowarm_upperarm |
| 231 | - operation: disable # Never in collision |
| 232 | - - object1: camera_link |
| 233 | - object2: thbase |
| 234 | - operation: disable # Never in collision |
| 235 | - - object1: camera_link |
| 236 | - object2: thdistal |
| 237 | - operation: disable # Never in collision |
| 238 | - - object1: camera_link |
| 239 | - object2: thhub |
| 240 | - operation: disable # Never in collision |
| 241 | - - object1: camera_link |
| 242 | - object2: thmiddle |
| 243 | - operation: disable # Never in collision |
| 244 | - - object1: camera_link |
| 245 | - object2: thproximal |
| 246 | - operation: disable # Never in collision |
| 247 | - - object1: camera_link |
| 248 | - object2: wrist |
| 249 | - operation: disable # Never in collision |
| 250 | - - object1: desk_pillar |
| 251 | - object2: ffmiddle |
| 252 | - operation: disable # Never in collision |
| 253 | - - object1: desk_pillar |
| 254 | - object2: forearm |
| 255 | - operation: disable # Never in collision |
| 256 | - - object1: desk_pillar |
| 257 | - object2: lfknuckle |
| 258 | - operation: disable # Never in collision |
| 259 | - - object1: desk_pillar |
| 260 | - object2: lfmetacarpal |
| 261 | - operation: disable # Never in collision |
| 262 | - - object1: desk_pillar |
| 263 | - object2: lfproximal |
| 264 | - operation: disable # Never in collision |
| 265 | - - object1: desk_pillar |
| 266 | - object2: mfknuckle |
| 267 | - operation: disable # Never in collision |
| 268 | - - object1: desk_pillar |
| 269 | - object2: mfmiddle |
| 270 | - operation: disable # Never in collision |
| 271 | - - object1: desk_pillar |
| 272 | - object2: mfproximal |
| 273 | - operation: disable # Never in collision |
| 274 | - - object1: desk_pillar |
| 275 | - object2: palm |
| 276 | - operation: disable # Never in collision |
| 277 | - - object1: desk_pillar |
| 278 | - object2: rfknuckle |
| 279 | - operation: disable # Never in collision |
| 280 | - - object1: desk_pillar |
| 281 | - object2: rfproximal |
| 282 | - operation: disable # Never in collision |
| 283 | - - object1: desk_pillar |
| 284 | - object2: shadow_handsupport |
| 285 | - operation: disable # Never in collision |
| 286 | - - object1: desk_pillar |
| 287 | - object2: shadowarm_lowerarm |
| 288 | - operation: disable # Never in collision |
| 289 | - - object1: desk_pillar |
| 290 | - object2: shadowarm_trunk |
| 291 | - operation: disable # Never in collision |
| 292 | - - object1: desk_pillar |
| 293 | - object2: shadowarm_upperarm |
| 294 | - operation: disable # Never in collision |
| 295 | - - object1: desk_pillar |
| 296 | - object2: thbase |
| 297 | - operation: disable # Never in collision |
| 298 | - - object1: desk_pillar |
| 299 | - object2: thhub |
| 300 | - operation: disable # Never in collision |
| 301 | - - object1: desk_pillar |
| 302 | - object2: wrist |
| 303 | - operation: disable # Never in collision |
| 304 | - - object1: desk_support |
| 305 | - object2: ffdistal |
| 306 | - operation: disable # Never in collision |
| 307 | - - object1: desk_support |
| 308 | - object2: ffknuckle |
| 309 | - operation: disable # Never in collision |
| 310 | - - object1: desk_support |
| 311 | - object2: ffmiddle |
| 312 | - operation: disable # Never in collision |
| 313 | - - object1: desk_support |
| 314 | - object2: ffproximal |
| 315 | - operation: disable # Never in collision |
| 316 | - - object1: desk_support |
| 317 | - object2: forearm |
| 318 | - operation: disable # Never in collision |
| 319 | - - object1: desk_support |
| 320 | - object2: lfdistal |
| 321 | - operation: disable # Never in collision |
| 322 | - - object1: desk_support |
| 323 | - object2: lfknuckle |
| 324 | - operation: disable # Never in collision |
| 325 | - - object1: desk_support |
| 326 | - object2: lfmetacarpal |
| 327 | - operation: disable # Never in collision |
| 328 | - - object1: desk_support |
| 329 | - object2: lfmiddle |
| 330 | - operation: disable # Never in collision |
| 331 | - - object1: desk_support |
| 332 | - object2: lfproximal |
| 333 | - operation: disable # Never in collision |
| 334 | - - object1: desk_support |
| 335 | - object2: mfdistal |
| 336 | - operation: disable # Never in collision |
| 337 | - - object1: desk_support |
| 338 | - object2: mfknuckle |
| 339 | - operation: disable # Never in collision |
| 340 | - - object1: desk_support |
| 341 | - object2: mfmiddle |
| 342 | - operation: disable # Never in collision |
| 343 | - - object1: desk_support |
| 344 | - object2: mfproximal |
| 345 | - operation: disable # Never in collision |
| 346 | - - object1: desk_support |
| 347 | - object2: palm |
| 348 | - operation: disable # Never in collision |
| 349 | - - object1: desk_support |
| 350 | - object2: rfdistal |
| 351 | - operation: disable # Never in collision |
| 352 | - - object1: desk_support |
| 353 | - object2: rfknuckle |
| 354 | - operation: disable # Never in collision |
| 355 | - - object1: desk_support |
| 356 | - object2: rfmiddle |
| 357 | - operation: disable # Never in collision |
| 358 | - - object1: desk_support |
| 359 | - object2: rfproximal |
| 360 | - operation: disable # Never in collision |
| 361 | - - object1: desk_support |
| 362 | - object2: shadowarm_base |
| 363 | - operation: disable # Never in collision |
| 364 | - - object1: desk_support |
| 365 | - object2: shadow_handsupport |
| 366 | - operation: disable # Never in collision |
| 367 | - - object1: desk_support |
| 368 | - object2: shadowarm_lowerarm |
| 369 | - operation: disable # Never in collision |
| 370 | - - object1: desk_support |
| 371 | - object2: shadowarm_trunk |
| 372 | - operation: disable # Never in collision |
| 373 | - - object1: desk_support |
| 374 | - object2: shadowarm_upperarm |
| 375 | - operation: disable # Never in collision |
| 376 | - - object1: desk_support |
| 377 | - object2: thbase |
| 378 | - operation: disable # Never in collision |
| 379 | - - object1: desk_support |
| 380 | - object2: thdistal |
| 381 | - operation: disable # Never in collision |
| 382 | - - object1: desk_support |
| 383 | - object2: thhub |
| 384 | - operation: disable # Never in collision |
| 385 | - - object1: desk_support |
| 386 | - object2: thmiddle |
| 387 | - operation: disable # Never in collision |
| 388 | - - object1: desk_support |
| 389 | - object2: thproximal |
| 390 | - operation: disable # Never in collision |
| 391 | - - object1: desk_support |
| 392 | - object2: wrist |
| 393 | - operation: disable # Never in collision |
| 394 | - - object1: ffdistal |
| 395 | - object2: ffknuckle |
| 396 | - operation: disable # Never in collision |
| 397 | - - object1: ffdistal |
| 398 | - object2: ffproximal |
| 399 | - operation: disable # Never in collision |
| 400 | - - object1: ffdistal |
| 401 | - object2: forearm |
| 402 | - operation: disable # Never in collision |
| 403 | - - object1: ffdistal |
| 404 | - object2: lfknuckle |
| 405 | - operation: disable # Never in collision |
| 406 | - - object1: ffdistal |
| 407 | - object2: lfmetacarpal |
| 408 | - operation: disable # Never in collision |
| 409 | - - object1: ffdistal |
| 410 | - object2: lfmiddle |
| 411 | - operation: disable # Never in collision |
| 412 | - - object1: ffdistal |
| 413 | - object2: lfproximal |
| 414 | - operation: disable # Never in collision |
| 415 | - - object1: ffdistal |
| 416 | - object2: mfknuckle |
| 417 | - operation: disable # Never in collision |
| 418 | - - object1: ffdistal |
| 419 | - object2: mfproximal |
| 420 | - operation: disable # Never in collision |
| 421 | - - object1: ffdistal |
| 422 | - object2: palm |
| 423 | - operation: disable # Never in collision |
| 424 | - - object1: ffdistal |
| 425 | - object2: rfknuckle |
| 426 | - operation: disable # Never in collision |
| 427 | - - object1: ffdistal |
| 428 | - object2: rfmiddle |
| 429 | - operation: disable # Never in collision |
| 430 | - - object1: ffdistal |
| 431 | - object2: rfproximal |
| 432 | - operation: disable # Never in collision |
| 433 | - - object1: ffdistal |
| 434 | - object2: shadowarm_base |
| 435 | - operation: disable # Never in collision |
| 436 | - - object1: ffdistal |
| 437 | - object2: shadow_handsupport |
| 438 | - operation: disable # Never in collision |
| 439 | - - object1: ffdistal |
| 440 | - object2: shadowarm_lowerarm |
| 441 | - operation: disable # Never in collision |
| 442 | - - object1: ffdistal |
| 443 | - object2: shadowarm_trunk |
| 444 | - operation: disable # Never in collision |
| 445 | - - object1: ffdistal |
| 446 | - object2: shadowarm_upperarm |
| 447 | - operation: disable # Never in collision |
| 448 | - - object1: ffdistal |
| 449 | - object2: thbase |
| 450 | - operation: disable # Never in collision |
| 451 | - - object1: ffdistal |
| 452 | - object2: thhub |
| 453 | - operation: disable # Never in collision |
| 454 | - - object1: ffdistal |
| 455 | - object2: thproximal |
| 456 | - operation: disable # Never in collision |
| 457 | - - object1: ffdistal |
| 458 | - object2: wrist |
| 459 | - operation: disable # Never in collision |
| 460 | - - object1: ffknuckle |
| 461 | - object2: ffmiddle |
| 462 | - operation: disable # Never in collision |
| 463 | - - object1: ffknuckle |
| 464 | - object2: forearm |
| 465 | - operation: disable # Never in collision |
| 466 | - - object1: ffknuckle |
| 467 | - object2: lfdistal |
| 468 | - operation: disable # Never in collision |
| 469 | - - object1: ffknuckle |
| 470 | - object2: lfknuckle |
| 471 | - operation: disable # Never in collision |
| 472 | - - object1: ffknuckle |
| 473 | - object2: lfmetacarpal |
| 474 | - operation: disable # Never in collision |
| 475 | - - object1: ffknuckle |
| 476 | - object2: lfmiddle |
| 477 | - operation: disable # Never in collision |
| 478 | - - object1: ffknuckle |
| 479 | - object2: lfproximal |
| 480 | - operation: disable # Never in collision |
| 481 | - - object1: ffknuckle |
| 482 | - object2: mfdistal |
| 483 | - operation: disable # Never in collision |
| 484 | - - object1: ffknuckle |
| 485 | - object2: mfknuckle |
| 486 | - operation: disable # Never in collision |
| 487 | - - object1: ffknuckle |
| 488 | - object2: mfmiddle |
| 489 | - operation: disable # Never in collision |
| 490 | - - object1: ffknuckle |
| 491 | - object2: mfproximal |
| 492 | - operation: disable # Never in collision |
| 493 | - - object1: ffknuckle |
| 494 | - object2: rfdistal |
| 495 | - operation: disable # Never in collision |
| 496 | - - object1: ffknuckle |
| 497 | - object2: rfknuckle |
| 498 | - operation: disable # Never in collision |
| 499 | - - object1: ffknuckle |
| 500 | - object2: rfmiddle |
| 501 | - operation: disable # Never in collision |
| 502 | - - object1: ffknuckle |
| 503 | - object2: rfproximal |
| 504 | - operation: disable # Never in collision |
| 505 | - - object1: ffknuckle |
| 506 | - object2: shadowarm_base |
| 507 | - operation: disable # Never in collision |
| 508 | - - object1: ffknuckle |
| 509 | - object2: shadow_handsupport |
| 510 | - operation: disable # Never in collision |
| 511 | - - object1: ffknuckle |
| 512 | - object2: shadowarm_lowerarm |
| 513 | - operation: disable # Never in collision |
| 514 | - - object1: ffknuckle |
| 515 | - object2: shadowarm_trunk |
| 516 | - operation: disable # Never in collision |
| 517 | - - object1: ffknuckle |
| 518 | - object2: shadowarm_upperarm |
| 519 | - operation: disable # Never in collision |
| 520 | - - object1: ffknuckle |
| 521 | - object2: thbase |
| 522 | - operation: disable # Never in collision |
| 523 | - - object1: ffknuckle |
| 524 | - object2: thhub |
| 525 | - operation: disable # Never in collision |
| 526 | - - object1: ffknuckle |
| 527 | - object2: thmiddle |
| 528 | - operation: disable # Never in collision |
| 529 | - - object1: ffknuckle |
| 530 | - object2: thproximal |
| 531 | - operation: disable # Never in collision |
| 532 | - - object1: ffknuckle |
| 533 | - object2: wrist |
| 534 | - operation: disable # Never in collision |
| 535 | - - object1: ffmiddle |
| 536 | - object2: forearm |
| 537 | - operation: disable # Never in collision |
| 538 | - - object1: ffmiddle |
| 539 | - object2: lfdistal |
| 540 | - operation: disable # Never in collision |
| 541 | - - object1: ffmiddle |
| 542 | - object2: lfknuckle |
| 543 | - operation: disable # Never in collision |
| 544 | - - object1: ffmiddle |
| 545 | - object2: lfmetacarpal |
| 546 | - operation: disable # Never in collision |
| 547 | - - object1: ffmiddle |
| 548 | - object2: lfmiddle |
| 549 | - operation: disable # Never in collision |
| 550 | - - object1: ffmiddle |
| 551 | - object2: lfproximal |
| 552 | - operation: disable # Never in collision |
| 553 | - - object1: ffmiddle |
| 554 | - object2: mfknuckle |
| 555 | - operation: disable # Never in collision |
| 556 | - - object1: ffmiddle |
| 557 | - object2: palm |
| 558 | - operation: disable # Never in collision |
| 559 | - - object1: ffmiddle |
| 560 | - object2: rfdistal |
| 561 | - operation: disable # Never in collision |
| 562 | - - object1: ffmiddle |
| 563 | - object2: rfknuckle |
| 564 | - operation: disable # Never in collision |
| 565 | - - object1: ffmiddle |
| 566 | - object2: rfmiddle |
| 567 | - operation: disable # Never in collision |
| 568 | - - object1: ffmiddle |
| 569 | - object2: rfproximal |
| 570 | - operation: disable # Never in collision |
| 571 | - - object1: ffmiddle |
| 572 | - object2: shadowarm_base |
| 573 | - operation: disable # Never in collision |
| 574 | - - object1: ffmiddle |
| 575 | - object2: shadow_handsupport |
| 576 | - operation: disable # Never in collision |
| 577 | - - object1: ffmiddle |
| 578 | - object2: shadowarm_lowerarm |
| 579 | - operation: disable # Never in collision |
| 580 | - - object1: ffmiddle |
| 581 | - object2: shadowarm_trunk |
| 582 | - operation: disable # Never in collision |
| 583 | - - object1: ffmiddle |
| 584 | - object2: shadowarm_upperarm |
| 585 | - operation: disable # Never in collision |
| 586 | - - object1: ffmiddle |
| 587 | - object2: thbase |
| 588 | - operation: disable # Never in collision |
| 589 | - - object1: ffmiddle |
| 590 | - object2: thhub |
| 591 | - operation: disable # Never in collision |
| 592 | - - object1: ffmiddle |
| 593 | - object2: thmiddle |
| 594 | - operation: disable # Never in collision |
| 595 | - - object1: ffmiddle |
| 596 | - object2: thproximal |
| 597 | - operation: disable # Never in collision |
| 598 | - - object1: ffmiddle |
| 599 | - object2: wrist |
| 600 | - operation: disable # Never in collision |
| 601 | - - object1: ffproximal |
| 602 | - object2: forearm |
| 603 | - operation: disable # Never in collision |
| 604 | - - object1: ffproximal |
| 605 | - object2: lfdistal |
| 606 | - operation: disable # Never in collision |
| 607 | - - object1: ffproximal |
| 608 | - object2: lfknuckle |
| 609 | - operation: disable # Never in collision |
| 610 | - - object1: ffproximal |
| 611 | - object2: lfmetacarpal |
| 612 | - operation: disable # Never in collision |
| 613 | - - object1: ffproximal |
| 614 | - object2: lfmiddle |
| 615 | - operation: disable # Never in collision |
| 616 | - - object1: ffproximal |
| 617 | - object2: lfproximal |
| 618 | - operation: disable # Never in collision |
| 619 | - - object1: ffproximal |
| 620 | - object2: mfdistal |
| 621 | - operation: disable # Never in collision |
| 622 | - - object1: ffproximal |
| 623 | - object2: mfknuckle |
| 624 | - operation: disable # Never in collision |
| 625 | - - object1: ffproximal |
| 626 | - object2: mfmiddle |
| 627 | - operation: disable # Never in collision |
| 628 | - - object1: ffproximal |
| 629 | - object2: palm |
| 630 | - operation: disable # Never in collision |
| 631 | - - object1: ffproximal |
| 632 | - object2: rfdistal |
| 633 | - operation: disable # Never in collision |
| 634 | - - object1: ffproximal |
| 635 | - object2: rfknuckle |
| 636 | - operation: disable # Never in collision |
| 637 | - - object1: ffproximal |
| 638 | - object2: rfmiddle |
| 639 | - operation: disable # Never in collision |
| 640 | - - object1: ffproximal |
| 641 | - object2: rfproximal |
| 642 | - operation: disable # Never in collision |
| 643 | - - object1: ffproximal |
| 644 | - object2: shadowarm_base |
| 645 | - operation: disable # Never in collision |
| 646 | - - object1: ffproximal |
| 647 | - object2: shadow_handsupport |
| 648 | - operation: disable # Never in collision |
| 649 | - - object1: ffproximal |
| 650 | - object2: shadowarm_lowerarm |
| 651 | - operation: disable # Never in collision |
| 652 | - - object1: ffproximal |
| 653 | - object2: shadowarm_trunk |
| 654 | - operation: disable # Never in collision |
| 655 | - - object1: ffproximal |
| 656 | - object2: shadowarm_upperarm |
| 657 | - operation: disable # Never in collision |
| 658 | - - object1: ffproximal |
| 659 | - object2: thbase |
| 660 | - operation: disable # Never in collision |
| 661 | - - object1: ffproximal |
| 662 | - object2: thhub |
| 663 | - operation: disable # Never in collision |
| 664 | - - object1: ffproximal |
| 665 | - object2: thmiddle |
| 666 | - operation: disable # Never in collision |
| 667 | - - object1: ffproximal |
| 668 | - object2: thproximal |
| 669 | - operation: disable # Never in collision |
| 670 | - - object1: ffproximal |
| 671 | - object2: wrist |
| 672 | - operation: disable # Never in collision |
| 673 | - - object1: forearm |
| 674 | - object2: lfdistal |
| 675 | - operation: disable # Never in collision |
| 676 | - - object1: forearm |
| 677 | - object2: lfknuckle |
| 678 | - operation: disable # Never in collision |
| 679 | - - object1: forearm |
| 680 | - object2: lfmetacarpal |
| 681 | - operation: disable # Never in collision |
| 682 | - - object1: forearm |
| 683 | - object2: lfmiddle |
| 684 | - operation: disable # Never in collision |
| 685 | - - object1: forearm |
| 686 | - object2: lfproximal |
| 687 | - operation: disable # Never in collision |
| 688 | - - object1: forearm |
| 689 | - object2: mfdistal |
| 690 | - operation: disable # Never in collision |
| 691 | - - object1: forearm |
| 692 | - object2: mfknuckle |
| 693 | - operation: disable # Never in collision |
| 694 | - - object1: forearm |
| 695 | - object2: mfmiddle |
| 696 | - operation: disable # Never in collision |
| 697 | - - object1: forearm |
| 698 | - object2: mfproximal |
| 699 | - operation: disable # Never in collision |
| 700 | - - object1: forearm |
| 701 | - object2: palm |
| 702 | - operation: disable # Never in collision |
| 703 | - - object1: forearm |
| 704 | - object2: rfdistal |
| 705 | - operation: disable # Never in collision |
| 706 | - - object1: forearm |
| 707 | - object2: rfknuckle |
| 708 | - operation: disable # Never in collision |
| 709 | - - object1: forearm |
| 710 | - object2: rfmiddle |
| 711 | - operation: disable # Never in collision |
| 712 | - - object1: forearm |
| 713 | - object2: rfproximal |
| 714 | - operation: disable # Never in collision |
| 715 | - - object1: forearm |
| 716 | - object2: shadowarm_base |
| 717 | - operation: disable # Never in collision |
| 718 | - - object1: forearm |
| 719 | - object2: shadowarm_trunk |
| 720 | - operation: disable # Never in collision |
| 721 | - - object1: forearm |
| 722 | - object2: shadowarm_upperarm |
| 723 | - operation: disable # Never in collision |
| 724 | - - object1: forearm |
| 725 | - object2: thbase |
| 726 | - operation: disable # Never in collision |
| 727 | - - object1: forearm |
| 728 | - object2: thdistal |
| 729 | - operation: disable # Never in collision |
| 730 | - - object1: forearm |
| 731 | - object2: thhub |
| 732 | - operation: disable # Never in collision |
| 733 | - - object1: forearm |
| 734 | - object2: thmiddle |
| 735 | - operation: disable # Never in collision |
| 736 | - - object1: forearm |
| 737 | - object2: thproximal |
| 738 | - operation: disable # Never in collision |
| 739 | - - object1: lfdistal |
| 740 | - object2: lfknuckle |
| 741 | - operation: disable # Never in collision |
| 742 | - - object1: lfdistal |
| 743 | - object2: lfmetacarpal |
| 744 | - operation: disable # Never in collision |
| 745 | - - object1: lfdistal |
| 746 | - object2: lfproximal |
| 747 | - operation: disable # Never in collision |
| 748 | - - object1: lfdistal |
| 749 | - object2: mfknuckle |
| 750 | - operation: disable # Never in collision |
| 751 | - - object1: lfdistal |
| 752 | - object2: mfproximal |
| 753 | - operation: disable # Never in collision |
| 754 | - - object1: lfdistal |
| 755 | - object2: palm |
| 756 | - operation: disable # Never in collision |
| 757 | - - object1: lfdistal |
| 758 | - object2: rfknuckle |
| 759 | - operation: disable # Never in collision |
| 760 | - - object1: lfdistal |
| 761 | - object2: shadowarm_base |
| 762 | - operation: disable # Never in collision |
| 763 | - - object1: lfdistal |
| 764 | - object2: shadow_handsupport |
| 765 | - operation: disable # Never in collision |
| 766 | - - object1: lfdistal |
| 767 | - object2: shadowarm_lowerarm |
| 768 | - operation: disable # Never in collision |
| 769 | - - object1: lfdistal |
| 770 | - object2: shadowarm_trunk |
| 771 | - operation: disable # Never in collision |
| 772 | - - object1: lfdistal |
| 773 | - object2: shadowarm_upperarm |
| 774 | - operation: disable # Never in collision |
| 775 | - - object1: lfdistal |
| 776 | - object2: thbase |
| 777 | - operation: disable # Never in collision |
| 778 | - - object1: lfdistal |
| 779 | - object2: thhub |
| 780 | - operation: disable # Never in collision |
| 781 | - - object1: lfdistal |
| 782 | - object2: thmiddle |
| 783 | - operation: disable # Never in collision |
| 784 | - - object1: lfdistal |
| 785 | - object2: thproximal |
| 786 | - operation: disable # Never in collision |
| 787 | - - object1: lfdistal |
| 788 | - object2: wrist |
| 789 | - operation: disable # Never in collision |
| 790 | - - object1: lfknuckle |
| 791 | - object2: lfmiddle |
| 792 | - operation: disable # Never in collision |
| 793 | - - object1: lfknuckle |
| 794 | - object2: mfdistal |
| 795 | - operation: disable # Never in collision |
| 796 | - - object1: lfknuckle |
| 797 | - object2: mfknuckle |
| 798 | - operation: disable # Never in collision |
| 799 | - - object1: lfknuckle |
| 800 | - object2: mfmiddle |
| 801 | - operation: disable # Never in collision |
| 802 | - - object1: lfknuckle |
| 803 | - object2: mfproximal |
| 804 | - operation: disable # Never in collision |
| 805 | - - object1: lfknuckle |
| 806 | - object2: palm |
| 807 | - operation: disable # Never in collision |
| 808 | - - object1: lfknuckle |
| 809 | - object2: rfdistal |
| 810 | - operation: disable # Never in collision |
| 811 | - - object1: lfknuckle |
| 812 | - object2: rfknuckle |
| 813 | - operation: disable # Never in collision |
| 814 | - - object1: lfknuckle |
| 815 | - object2: rfmiddle |
| 816 | - operation: disable # Never in collision |
| 817 | - - object1: lfknuckle |
| 818 | - object2: rfproximal |
| 819 | - operation: disable # Never in collision |
| 820 | - - object1: lfknuckle |
| 821 | - object2: shadowarm_base |
| 822 | - operation: disable # Never in collision |
| 823 | - - object1: lfknuckle |
| 824 | - object2: shadow_handsupport |
| 825 | - operation: disable # Never in collision |
| 826 | - - object1: lfknuckle |
| 827 | - object2: shadowarm_lowerarm |
| 828 | - operation: disable # Never in collision |
| 829 | - - object1: lfknuckle |
| 830 | - object2: shadowarm_trunk |
| 831 | - operation: disable # Never in collision |
| 832 | - - object1: lfknuckle |
| 833 | - object2: shadowarm_upperarm |
| 834 | - operation: disable # Never in collision |
| 835 | - - object1: lfknuckle |
| 836 | - object2: thbase |
| 837 | - operation: disable # Never in collision |
| 838 | - - object1: lfknuckle |
| 839 | - object2: thdistal |
| 840 | - operation: disable # Never in collision |
| 841 | - - object1: lfknuckle |
| 842 | - object2: thhub |
| 843 | - operation: disable # Never in collision |
| 844 | - - object1: lfknuckle |
| 845 | - object2: thmiddle |
| 846 | - operation: disable # Never in collision |
| 847 | - - object1: lfknuckle |
| 848 | - object2: thproximal |
| 849 | - operation: disable # Never in collision |
| 850 | - - object1: lfknuckle |
| 851 | - object2: wrist |
| 852 | - operation: disable # Never in collision |
| 853 | - - object1: lfmetacarpal |
| 854 | - object2: lfmiddle |
| 855 | - operation: disable # Never in collision |
| 856 | - - object1: lfmetacarpal |
| 857 | - object2: lfproximal |
| 858 | - operation: disable # Never in collision |
| 859 | - - object1: lfmetacarpal |
| 860 | - object2: mfdistal |
| 861 | - operation: disable # Never in collision |
| 862 | - - object1: lfmetacarpal |
| 863 | - object2: mfknuckle |
| 864 | - operation: disable # Never in collision |
| 865 | - - object1: lfmetacarpal |
| 866 | - object2: mfmiddle |
| 867 | - operation: disable # Never in collision |
| 868 | - - object1: lfmetacarpal |
| 869 | - object2: mfproximal |
| 870 | - operation: disable # Never in collision |
| 871 | - - object1: lfmetacarpal |
| 872 | - object2: rfdistal |
| 873 | - operation: disable # Never in collision |
| 874 | - - object1: lfmetacarpal |
| 875 | - object2: rfknuckle |
| 876 | - operation: disable # Never in collision |
| 877 | - - object1: lfmetacarpal |
| 878 | - object2: rfmiddle |
| 879 | - operation: disable # Never in collision |
| 880 | - - object1: lfmetacarpal |
| 881 | - object2: rfproximal |
| 882 | - operation: disable # Never in collision |
| 883 | - - object1: lfmetacarpal |
| 884 | - object2: shadowarm_base |
| 885 | - operation: disable # Never in collision |
| 886 | - - object1: lfmetacarpal |
| 887 | - object2: shadow_handsupport |
| 888 | - operation: disable # Never in collision |
| 889 | - - object1: lfmetacarpal |
| 890 | - object2: shadowarm_lowerarm |
| 891 | - operation: disable # Never in collision |
| 892 | - - object1: lfmetacarpal |
| 893 | - object2: shadowarm_trunk |
| 894 | - operation: disable # Never in collision |
| 895 | - - object1: lfmetacarpal |
| 896 | - object2: shadowarm_upperarm |
| 897 | - operation: disable # Never in collision |
| 898 | - - object1: lfmetacarpal |
| 899 | - object2: thbase |
| 900 | - operation: disable # Never in collision |
| 901 | - - object1: lfmetacarpal |
| 902 | - object2: thdistal |
| 903 | - operation: disable # Never in collision |
| 904 | - - object1: lfmetacarpal |
| 905 | - object2: thhub |
| 906 | - operation: disable # Never in collision |
| 907 | - - object1: lfmetacarpal |
| 908 | - object2: thmiddle |
| 909 | - operation: disable # Never in collision |
| 910 | - - object1: lfmetacarpal |
| 911 | - object2: thproximal |
| 912 | - operation: disable # Never in collision |
| 913 | - - object1: lfmetacarpal |
| 914 | - object2: wrist |
| 915 | - operation: disable # Never in collision |
| 916 | - - object1: lfmiddle |
| 917 | - object2: mfknuckle |
| 918 | - operation: disable # Never in collision |
| 919 | - - object1: lfmiddle |
| 920 | - object2: mfproximal |
| 921 | - operation: disable # Never in collision |
| 922 | - - object1: lfmiddle |
| 923 | - object2: palm |
| 924 | - operation: disable # Never in collision |
| 925 | - - object1: lfmiddle |
| 926 | - object2: rfknuckle |
| 927 | - operation: disable # Never in collision |
| 928 | - - object1: lfmiddle |
| 929 | - object2: shadowarm_base |
| 930 | - operation: disable # Never in collision |
| 931 | - - object1: lfmiddle |
| 932 | - object2: shadow_handsupport |
| 933 | - operation: disable # Never in collision |
| 934 | - - object1: lfmiddle |
| 935 | - object2: shadowarm_lowerarm |
| 936 | - operation: disable # Never in collision |
| 937 | - - object1: lfmiddle |
| 938 | - object2: shadowarm_trunk |
| 939 | - operation: disable # Never in collision |
| 940 | - - object1: lfmiddle |
| 941 | - object2: shadowarm_upperarm |
| 942 | - operation: disable # Never in collision |
| 943 | - - object1: lfmiddle |
| 944 | - object2: thbase |
| 945 | - operation: disable # Never in collision |
| 946 | - - object1: lfmiddle |
| 947 | - object2: thhub |
| 948 | - operation: disable # Never in collision |
| 949 | - - object1: lfmiddle |
| 950 | - object2: thmiddle |
| 951 | - operation: disable # Never in collision |
| 952 | - - object1: lfmiddle |
| 953 | - object2: thproximal |
| 954 | - operation: disable # Never in collision |
| 955 | - - object1: lfmiddle |
| 956 | - object2: wrist |
| 957 | - operation: disable # Never in collision |
| 958 | - - object1: lfproximal |
| 959 | - object2: mfknuckle |
| 960 | - operation: disable # Never in collision |
| 961 | - - object1: lfproximal |
| 962 | - object2: mfmiddle |
| 963 | - operation: disable # Never in collision |
| 964 | - - object1: lfproximal |
| 965 | - object2: mfproximal |
| 966 | - operation: disable # Never in collision |
| 967 | - - object1: lfproximal |
| 968 | - object2: palm |
| 969 | - operation: disable # Never in collision |
| 970 | - - object1: lfproximal |
| 971 | - object2: rfknuckle |
| 972 | - operation: disable # Never in collision |
| 973 | - - object1: lfproximal |
| 974 | - object2: shadowarm_base |
| 975 | - operation: disable # Never in collision |
| 976 | - - object1: lfproximal |
| 977 | - object2: shadow_handsupport |
| 978 | - operation: disable # Never in collision |
| 979 | - - object1: lfproximal |
| 980 | - object2: shadowarm_lowerarm |
| 981 | - operation: disable # Never in collision |
| 982 | - - object1: lfproximal |
| 983 | - object2: shadowarm_trunk |
| 984 | - operation: disable # Never in collision |
| 985 | - - object1: lfproximal |
| 986 | - object2: shadowarm_upperarm |
| 987 | - operation: disable # Never in collision |
| 988 | - - object1: lfproximal |
| 989 | - object2: thbase |
| 990 | - operation: disable # Never in collision |
| 991 | - - object1: lfproximal |
| 992 | - object2: thdistal |
| 993 | - operation: disable # Never in collision |
| 994 | - - object1: lfproximal |
| 995 | - object2: thhub |
| 996 | - operation: disable # Never in collision |
| 997 | - - object1: lfproximal |
| 998 | - object2: thmiddle |
| 999 | - operation: disable # Never in collision |
| 1000 | - - object1: lfproximal |
| 1001 | - object2: thproximal |
| 1002 | - operation: disable # Never in collision |
| 1003 | - - object1: lfproximal |
| 1004 | - object2: wrist |
| 1005 | - operation: disable # Never in collision |
| 1006 | - - object1: mfdistal |
| 1007 | - object2: mfknuckle |
| 1008 | - operation: disable # Never in collision |
| 1009 | - - object1: mfdistal |
| 1010 | - object2: mfproximal |
| 1011 | - operation: disable # Never in collision |
| 1012 | - - object1: mfdistal |
| 1013 | - object2: palm |
| 1014 | - operation: disable # Never in collision |
| 1015 | - - object1: mfdistal |
| 1016 | - object2: rfknuckle |
| 1017 | - operation: disable # Never in collision |
| 1018 | - - object1: mfdistal |
| 1019 | - object2: shadowarm_base |
| 1020 | - operation: disable # Never in collision |
| 1021 | - - object1: mfdistal |
| 1022 | - object2: shadow_handsupport |
| 1023 | - operation: disable # Never in collision |
| 1024 | - - object1: mfdistal |
| 1025 | - object2: shadowarm_lowerarm |
| 1026 | - operation: disable # Never in collision |
| 1027 | - - object1: mfdistal |
| 1028 | - object2: shadowarm_trunk |
| 1029 | - operation: disable # Never in collision |
| 1030 | - - object1: mfdistal |
| 1031 | - object2: shadowarm_upperarm |
| 1032 | - operation: disable # Never in collision |
| 1033 | - - object1: mfdistal |
| 1034 | - object2: thbase |
| 1035 | - operation: disable # Never in collision |
| 1036 | - - object1: mfdistal |
| 1037 | - object2: thhub |
| 1038 | - operation: disable # Never in collision |
| 1039 | - - object1: mfdistal |
| 1040 | - object2: thproximal |
| 1041 | - operation: disable # Never in collision |
| 1042 | - - object1: mfdistal |
| 1043 | - object2: wrist |
| 1044 | - operation: disable # Never in collision |
| 1045 | - - object1: mfknuckle |
| 1046 | - object2: mfmiddle |
| 1047 | - operation: disable # Never in collision |
| 1048 | - - object1: mfknuckle |
| 1049 | - object2: rfdistal |
| 1050 | - operation: disable # Never in collision |
| 1051 | - - object1: mfknuckle |
| 1052 | - object2: rfknuckle |
| 1053 | - operation: disable # Never in collision |
| 1054 | - - object1: mfknuckle |
| 1055 | - object2: rfmiddle |
| 1056 | - operation: disable # Never in collision |
| 1057 | - - object1: mfknuckle |
| 1058 | - object2: rfproximal |
| 1059 | - operation: disable # Never in collision |
| 1060 | - - object1: mfknuckle |
| 1061 | - object2: shadowarm_base |
| 1062 | - operation: disable # Never in collision |
| 1063 | - - object1: mfknuckle |
| 1064 | - object2: shadow_handsupport |
| 1065 | - operation: disable # Never in collision |
| 1066 | - - object1: mfknuckle |
| 1067 | - object2: shadowarm_lowerarm |
| 1068 | - operation: disable # Never in collision |
| 1069 | - - object1: mfknuckle |
| 1070 | - object2: shadowarm_trunk |
| 1071 | - operation: disable # Never in collision |
| 1072 | - - object1: mfknuckle |
| 1073 | - object2: shadowarm_upperarm |
| 1074 | - operation: disable # Never in collision |
| 1075 | - - object1: mfknuckle |
| 1076 | - object2: thbase |
| 1077 | - operation: disable # Never in collision |
| 1078 | - - object1: mfknuckle |
| 1079 | - object2: thhub |
| 1080 | - operation: disable # Never in collision |
| 1081 | - - object1: mfknuckle |
| 1082 | - object2: thmiddle |
| 1083 | - operation: disable # Never in collision |
| 1084 | - - object1: mfknuckle |
| 1085 | - object2: thproximal |
| 1086 | - operation: disable # Never in collision |
| 1087 | - - object1: mfknuckle |
| 1088 | - object2: wrist |
| 1089 | - operation: disable # Never in collision |
| 1090 | - - object1: mfmiddle |
| 1091 | - object2: palm |
| 1092 | - operation: disable # Never in collision |
| 1093 | - - object1: mfmiddle |
| 1094 | - object2: rfknuckle |
| 1095 | - operation: disable # Never in collision |
| 1096 | - - object1: mfmiddle |
| 1097 | - object2: rfproximal |
| 1098 | - operation: disable # Never in collision |
| 1099 | - - object1: mfmiddle |
| 1100 | - object2: shadowarm_base |
| 1101 | - operation: disable # Never in collision |
| 1102 | - - object1: mfmiddle |
| 1103 | - object2: shadow_handsupport |
| 1104 | - operation: disable # Never in collision |
| 1105 | - - object1: mfmiddle |
| 1106 | - object2: shadowarm_lowerarm |
| 1107 | - operation: disable # Never in collision |
| 1108 | - - object1: mfmiddle |
| 1109 | - object2: shadowarm_trunk |
| 1110 | - operation: disable # Never in collision |
| 1111 | - - object1: mfmiddle |
| 1112 | - object2: shadowarm_upperarm |
| 1113 | - operation: disable # Never in collision |
| 1114 | - - object1: mfmiddle |
| 1115 | - object2: thbase |
| 1116 | - operation: disable # Never in collision |
| 1117 | - - object1: mfmiddle |
| 1118 | - object2: thhub |
| 1119 | - operation: disable # Never in collision |
| 1120 | - - object1: mfmiddle |
| 1121 | - object2: thmiddle |
| 1122 | - operation: disable # Never in collision |
| 1123 | - - object1: mfmiddle |
| 1124 | - object2: thproximal |
| 1125 | - operation: disable # Never in collision |
| 1126 | - - object1: mfmiddle |
| 1127 | - object2: wrist |
| 1128 | - operation: disable # Never in collision |
| 1129 | - - object1: mfproximal |
| 1130 | - object2: palm |
| 1131 | - operation: disable # Never in collision |
| 1132 | - - object1: mfproximal |
| 1133 | - object2: rfdistal |
| 1134 | - operation: disable # Never in collision |
| 1135 | - - object1: mfproximal |
| 1136 | - object2: rfknuckle |
| 1137 | - operation: disable # Never in collision |
| 1138 | - - object1: mfproximal |
| 1139 | - object2: rfmiddle |
| 1140 | - operation: disable # Never in collision |
| 1141 | - - object1: mfproximal |
| 1142 | - object2: shadowarm_base |
| 1143 | - operation: disable # Never in collision |
| 1144 | - - object1: mfproximal |
| 1145 | - object2: shadow_handsupport |
| 1146 | - operation: disable # Never in collision |
| 1147 | - - object1: mfproximal |
| 1148 | - object2: shadowarm_lowerarm |
| 1149 | - operation: disable # Never in collision |
| 1150 | - - object1: mfproximal |
| 1151 | - object2: shadowarm_trunk |
| 1152 | - operation: disable # Never in collision |
| 1153 | - - object1: mfproximal |
| 1154 | - object2: shadowarm_upperarm |
| 1155 | - operation: disable # Never in collision |
| 1156 | - - object1: mfproximal |
| 1157 | - object2: thbase |
| 1158 | - operation: disable # Never in collision |
| 1159 | - - object1: mfproximal |
| 1160 | - object2: thhub |
| 1161 | - operation: disable # Never in collision |
| 1162 | - - object1: mfproximal |
| 1163 | - object2: thmiddle |
| 1164 | - operation: disable # Never in collision |
| 1165 | - - object1: mfproximal |
| 1166 | - object2: thproximal |
| 1167 | - operation: disable # Never in collision |
| 1168 | - - object1: mfproximal |
| 1169 | - object2: wrist |
| 1170 | - operation: disable # Never in collision |
| 1171 | - - object1: palm |
| 1172 | - object2: rfdistal |
| 1173 | - operation: disable # Never in collision |
| 1174 | - - object1: palm |
| 1175 | - object2: rfmiddle |
| 1176 | - operation: disable # Never in collision |
| 1177 | - - object1: palm |
| 1178 | - object2: rfproximal |
| 1179 | - operation: disable # Never in collision |
| 1180 | - - object1: palm |
| 1181 | - object2: shadowarm_base |
| 1182 | - operation: disable # Never in collision |
| 1183 | - - object1: palm |
| 1184 | - object2: shadow_handsupport |
| 1185 | - operation: disable # Never in collision |
| 1186 | - - object1: palm |
| 1187 | - object2: shadowarm_lowerarm |
| 1188 | - operation: disable # Never in collision |
| 1189 | - - object1: palm |
| 1190 | - object2: shadowarm_trunk |
| 1191 | - operation: disable # Never in collision |
| 1192 | - - object1: palm |
| 1193 | - object2: shadowarm_upperarm |
| 1194 | - operation: disable # Never in collision |
| 1195 | - - object1: palm |
| 1196 | - object2: thdistal |
| 1197 | - operation: disable # Never in collision |
| 1198 | - - object1: palm |
| 1199 | - object2: thhub |
| 1200 | - operation: disable # Never in collision |
| 1201 | - - object1: palm |
| 1202 | - object2: thmiddle |
| 1203 | - operation: disable # Never in collision |
| 1204 | - - object1: palm |
| 1205 | - object2: thproximal |
| 1206 | - operation: disable # Never in collision |
| 1207 | - - object1: rfdistal |
| 1208 | - object2: rfknuckle |
| 1209 | - operation: disable # Never in collision |
| 1210 | - - object1: rfdistal |
| 1211 | - object2: rfproximal |
| 1212 | - operation: disable # Never in collision |
| 1213 | - - object1: rfdistal |
| 1214 | - object2: shadowarm_base |
| 1215 | - operation: disable # Never in collision |
| 1216 | - - object1: rfdistal |
| 1217 | - object2: shadow_handsupport |
| 1218 | - operation: disable # Never in collision |
| 1219 | - - object1: rfdistal |
| 1220 | - object2: shadowarm_lowerarm |
| 1221 | - operation: disable # Never in collision |
| 1222 | - - object1: rfdistal |
| 1223 | - object2: shadowarm_trunk |
| 1224 | - operation: disable # Never in collision |
| 1225 | - - object1: rfdistal |
| 1226 | - object2: shadowarm_upperarm |
| 1227 | - operation: disable # Never in collision |
| 1228 | - - object1: rfdistal |
| 1229 | - object2: thbase |
| 1230 | - operation: disable # Never in collision |
| 1231 | - - object1: rfdistal |
| 1232 | - object2: thhub |
| 1233 | - operation: disable # Never in collision |
| 1234 | - - object1: rfdistal |
| 1235 | - object2: thmiddle |
| 1236 | - operation: disable # Never in collision |
| 1237 | - - object1: rfdistal |
| 1238 | - object2: thproximal |
| 1239 | - operation: disable # Never in collision |
| 1240 | - - object1: rfdistal |
| 1241 | - object2: wrist |
| 1242 | - operation: disable # Never in collision |
| 1243 | - - object1: rfknuckle |
| 1244 | - object2: rfmiddle |
| 1245 | - operation: disable # Never in collision |
| 1246 | - - object1: rfknuckle |
| 1247 | - object2: shadowarm_base |
| 1248 | - operation: disable # Never in collision |
| 1249 | - - object1: rfknuckle |
| 1250 | - object2: shadow_handsupport |
| 1251 | - operation: disable # Never in collision |
| 1252 | - - object1: rfknuckle |
| 1253 | - object2: shadowarm_lowerarm |
| 1254 | - operation: disable # Never in collision |
| 1255 | - - object1: rfknuckle |
| 1256 | - object2: shadowarm_trunk |
| 1257 | - operation: disable # Never in collision |
| 1258 | - - object1: rfknuckle |
| 1259 | - object2: shadowarm_upperarm |
| 1260 | - operation: disable # Never in collision |
| 1261 | - - object1: rfknuckle |
| 1262 | - object2: thbase |
| 1263 | - operation: disable # Never in collision |
| 1264 | - - object1: rfknuckle |
| 1265 | - object2: thdistal |
| 1266 | - operation: disable # Never in collision |
| 1267 | - - object1: rfknuckle |
| 1268 | - object2: thhub |
| 1269 | - operation: disable # Never in collision |
| 1270 | - - object1: rfknuckle |
| 1271 | - object2: thmiddle |
| 1272 | - operation: disable # Never in collision |
| 1273 | - - object1: rfknuckle |
| 1274 | - object2: thproximal |
| 1275 | - operation: disable # Never in collision |
| 1276 | - - object1: rfknuckle |
| 1277 | - object2: wrist |
| 1278 | - operation: disable # Never in collision |
| 1279 | - - object1: rfmiddle |
| 1280 | - object2: shadowarm_base |
| 1281 | - operation: disable # Never in collision |
| 1282 | - - object1: rfmiddle |
| 1283 | - object2: shadow_handsupport |
| 1284 | - operation: disable # Never in collision |
| 1285 | - - object1: rfmiddle |
| 1286 | - object2: shadowarm_lowerarm |
| 1287 | - operation: disable # Never in collision |
| 1288 | - - object1: rfmiddle |
| 1289 | - object2: shadowarm_trunk |
| 1290 | - operation: disable # Never in collision |
| 1291 | - - object1: rfmiddle |
| 1292 | - object2: shadowarm_upperarm |
| 1293 | - operation: disable # Never in collision |
| 1294 | - - object1: rfmiddle |
| 1295 | - object2: thbase |
| 1296 | - operation: disable # Never in collision |
| 1297 | - - object1: rfmiddle |
| 1298 | - object2: thdistal |
| 1299 | - operation: disable # Never in collision |
| 1300 | - - object1: rfmiddle |
| 1301 | - object2: thhub |
| 1302 | - operation: disable # Never in collision |
| 1303 | - - object1: rfmiddle |
| 1304 | - object2: thmiddle |
| 1305 | - operation: disable # Never in collision |
| 1306 | - - object1: rfmiddle |
| 1307 | - object2: thproximal |
| 1308 | - operation: disable # Never in collision |
| 1309 | - - object1: rfmiddle |
| 1310 | - object2: wrist |
| 1311 | - operation: disable # Never in collision |
| 1312 | - - object1: rfproximal |
| 1313 | - object2: shadowarm_base |
| 1314 | - operation: disable # Never in collision |
| 1315 | - - object1: rfproximal |
| 1316 | - object2: shadow_handsupport |
| 1317 | - operation: disable # Never in collision |
| 1318 | - - object1: rfproximal |
| 1319 | - object2: shadowarm_lowerarm |
| 1320 | - operation: disable # Never in collision |
| 1321 | - - object1: rfproximal |
| 1322 | - object2: shadowarm_trunk |
| 1323 | - operation: disable # Never in collision |
| 1324 | - - object1: rfproximal |
| 1325 | - object2: shadowarm_upperarm |
| 1326 | - operation: disable # Never in collision |
| 1327 | - - object1: rfproximal |
| 1328 | - object2: thbase |
| 1329 | - operation: disable # Never in collision |
| 1330 | - - object1: rfproximal |
| 1331 | - object2: thdistal |
| 1332 | - operation: disable # Never in collision |
| 1333 | - - object1: rfproximal |
| 1334 | - object2: thhub |
| 1335 | - operation: disable # Never in collision |
| 1336 | - - object1: rfproximal |
| 1337 | - object2: thmiddle |
| 1338 | - operation: disable # Never in collision |
| 1339 | - - object1: rfproximal |
| 1340 | - object2: thproximal |
| 1341 | - operation: disable # Never in collision |
| 1342 | - - object1: rfproximal |
| 1343 | - object2: wrist |
| 1344 | - operation: disable # Never in collision |
| 1345 | - - object1: shadowarm_base |
| 1346 | - object2: shadow_handsupport |
| 1347 | - operation: disable # Never in collision |
| 1348 | - - object1: shadowarm_base |
| 1349 | - object2: shadowarm_lowerarm |
| 1350 | - operation: disable # Never in collision |
| 1351 | - - object1: shadowarm_base |
| 1352 | - object2: shadowarm_upperarm |
| 1353 | - operation: disable # Never in collision |
| 1354 | - - object1: shadowarm_base |
| 1355 | - object2: thbase |
| 1356 | - operation: disable # Never in collision |
| 1357 | - - object1: shadowarm_base |
| 1358 | - object2: thdistal |
| 1359 | - operation: disable # Never in collision |
| 1360 | - - object1: shadowarm_base |
| 1361 | - object2: thhub |
| 1362 | - operation: disable # Never in collision |
| 1363 | - - object1: shadowarm_base |
| 1364 | - object2: thmiddle |
| 1365 | - operation: disable # Never in collision |
| 1366 | - - object1: shadowarm_base |
| 1367 | - object2: thproximal |
| 1368 | - operation: disable # Never in collision |
| 1369 | - - object1: shadowarm_base |
| 1370 | - object2: wrist |
| 1371 | - operation: disable # Never in collision |
| 1372 | - - object1: shadow_handsupport |
| 1373 | - object2: shadowarm_trunk |
| 1374 | - operation: disable # Never in collision |
| 1375 | - - object1: shadow_handsupport |
| 1376 | - object2: shadowarm_upperarm |
| 1377 | - operation: disable # Never in collision |
| 1378 | - - object1: shadow_handsupport |
| 1379 | - object2: thbase |
| 1380 | - operation: disable # Never in collision |
| 1381 | - - object1: shadow_handsupport |
| 1382 | - object2: thdistal |
| 1383 | - operation: disable # Never in collision |
| 1384 | - - object1: shadow_handsupport |
| 1385 | - object2: thhub |
| 1386 | - operation: disable # Never in collision |
| 1387 | - - object1: shadow_handsupport |
| 1388 | - object2: thmiddle |
| 1389 | - operation: disable # Never in collision |
| 1390 | - - object1: shadow_handsupport |
| 1391 | - object2: thproximal |
| 1392 | - operation: disable # Never in collision |
| 1393 | - - object1: shadow_handsupport |
| 1394 | + object2: ffdistal |
| 1395 | + operation: disable # Never in collision |
| 1396 | + - object1: camera_link |
| 1397 | + object2: ffknuckle |
| 1398 | + operation: disable # Never in collision |
| 1399 | + - object1: camera_link |
| 1400 | + object2: ffmiddle |
| 1401 | + operation: disable # Never in collision |
| 1402 | + - object1: camera_link |
| 1403 | + object2: ffproximal |
| 1404 | + operation: disable # Never in collision |
| 1405 | + - object1: camera_link |
| 1406 | + object2: forearm |
| 1407 | + operation: disable # Never in collision |
| 1408 | + - object1: camera_link |
| 1409 | + object2: lfdistal |
| 1410 | + operation: disable # Never in collision |
| 1411 | + - object1: camera_link |
| 1412 | + object2: lfknuckle |
| 1413 | + operation: disable # Never in collision |
| 1414 | + - object1: camera_link |
| 1415 | + object2: lfmetacarpal |
| 1416 | + operation: disable # Never in collision |
| 1417 | + - object1: camera_link |
| 1418 | + object2: lfmiddle |
| 1419 | + operation: disable # Never in collision |
| 1420 | + - object1: camera_link |
| 1421 | + object2: lfproximal |
| 1422 | + operation: disable # Never in collision |
| 1423 | + - object1: camera_link |
| 1424 | + object2: mfdistal |
| 1425 | + operation: disable # Never in collision |
| 1426 | + - object1: camera_link |
| 1427 | + object2: mfknuckle |
| 1428 | + operation: disable # Never in collision |
| 1429 | + - object1: camera_link |
| 1430 | + object2: mfmiddle |
| 1431 | + operation: disable # Never in collision |
| 1432 | + - object1: camera_link |
| 1433 | + object2: mfproximal |
| 1434 | + operation: disable # Never in collision |
| 1435 | + - object1: camera_link |
| 1436 | + object2: palm |
| 1437 | + operation: disable # Never in collision |
| 1438 | + - object1: camera_link |
| 1439 | + object2: rfdistal |
| 1440 | + operation: disable # Never in collision |
| 1441 | + - object1: camera_link |
| 1442 | + object2: rfknuckle |
| 1443 | + operation: disable # Never in collision |
| 1444 | + - object1: camera_link |
| 1445 | + object2: rfmiddle |
| 1446 | + operation: disable # Never in collision |
| 1447 | + - object1: camera_link |
| 1448 | + object2: rfproximal |
| 1449 | + operation: disable # Never in collision |
| 1450 | + - object1: camera_link |
| 1451 | + object2: shadowarm_base |
| 1452 | + operation: disable # Never in collision |
| 1453 | + - object1: camera_link |
| 1454 | + object2: shadowarm_handsupport |
| 1455 | + operation: disable # Never in collision |
| 1456 | + - object1: camera_link |
| 1457 | + object2: shadowarm_lowerarm |
| 1458 | + operation: disable # Never in collision |
| 1459 | + - object1: camera_link |
| 1460 | + object2: shadowarm_upperarm |
| 1461 | + operation: disable # Never in collision |
| 1462 | + - object1: camera_link |
| 1463 | + object2: thbase |
| 1464 | + operation: disable # Never in collision |
| 1465 | + - object1: camera_link |
| 1466 | + object2: thdistal |
| 1467 | + operation: disable # Never in collision |
| 1468 | + - object1: camera_link |
| 1469 | + object2: thhub |
| 1470 | + operation: disable # Never in collision |
| 1471 | + - object1: camera_link |
| 1472 | + object2: thmiddle |
| 1473 | + operation: disable # Never in collision |
| 1474 | + - object1: camera_link |
| 1475 | + object2: thproximal |
| 1476 | + operation: disable # Never in collision |
| 1477 | + - object1: camera_link |
| 1478 | + object2: wrist |
| 1479 | + operation: disable # Never in collision |
| 1480 | + object2: shadowarm_trunk |
| 1481 | + - object1: ffdistal |
| 1482 | + object2: ffknuckle |
| 1483 | + operation: disable # Never in collision |
| 1484 | + - object1: ffdistal |
| 1485 | + object2: ffproximal |
| 1486 | + operation: disable # Never in collision |
| 1487 | + - object1: ffdistal |
| 1488 | + object2: forearm |
| 1489 | + operation: disable # Never in collision |
| 1490 | + - object1: ffdistal |
| 1491 | + object2: lfknuckle |
| 1492 | + operation: disable # Never in collision |
| 1493 | + - object1: ffdistal |
| 1494 | + object2: lfmetacarpal |
| 1495 | + operation: disable # Never in collision |
| 1496 | + - object1: ffdistal |
| 1497 | + object2: lfmiddle |
| 1498 | + operation: disable # Never in collision |
| 1499 | + - object1: ffdistal |
| 1500 | + object2: lfproximal |
| 1501 | + operation: disable # Never in collision |
| 1502 | + - object1: ffdistal |
| 1503 | + object2: mfknuckle |
| 1504 | + operation: disable # Never in collision |
| 1505 | + - object1: ffdistal |
| 1506 | + object2: mfproximal |
| 1507 | + operation: disable # Never in collision |
| 1508 | + - object1: ffdistal |
| 1509 | + object2: palm |
| 1510 | + operation: disable # Never in collision |
| 1511 | + - object1: ffdistal |
| 1512 | + object2: rfknuckle |
| 1513 | + operation: disable # Never in collision |
| 1514 | + - object1: ffdistal |
| 1515 | + object2: rfmiddle |
| 1516 | + operation: disable # Never in collision |
| 1517 | + - object1: ffdistal |
| 1518 | + object2: rfproximal |
| 1519 | + operation: disable # Never in collision |
| 1520 | + - object1: ffdistal |
| 1521 | + object2: shadowarm_base |
| 1522 | + operation: disable # Never in collision |
| 1523 | + - object1: ffdistal |
| 1524 | + object2: shadowarm_handsupport |
| 1525 | + operation: disable # Never in collision |
| 1526 | + - object1: ffdistal |
| 1527 | + object2: shadowarm_lowerarm |
| 1528 | + operation: disable # Never in collision |
| 1529 | + - object1: ffdistal |
| 1530 | + object2: shadowarm_trunk |
| 1531 | + operation: disable # Never in collision |
| 1532 | + - object1: ffdistal |
| 1533 | + object2: shadowarm_upperarm |
| 1534 | + operation: disable # Never in collision |
| 1535 | + - object1: ffdistal |
| 1536 | + object2: thbase |
| 1537 | + operation: disable # Never in collision |
| 1538 | + - object1: ffdistal |
| 1539 | + object2: thhub |
| 1540 | + operation: disable # Never in collision |
| 1541 | + - object1: ffdistal |
| 1542 | + object2: thproximal |
| 1543 | + operation: disable # Never in collision |
| 1544 | + - object1: ffdistal |
| 1545 | + object2: wrist |
| 1546 | + operation: disable # Never in collision |
| 1547 | + - object1: ffknuckle |
| 1548 | + object2: ffmiddle |
| 1549 | + operation: disable # Never in collision |
| 1550 | + - object1: ffknuckle |
| 1551 | + object2: forearm |
| 1552 | + operation: disable # Never in collision |
| 1553 | + - object1: ffknuckle |
| 1554 | + object2: lfdistal |
| 1555 | + operation: disable # Never in collision |
| 1556 | + - object1: ffknuckle |
| 1557 | + object2: lfknuckle |
| 1558 | + operation: disable # Never in collision |
| 1559 | + - object1: ffknuckle |
| 1560 | + object2: lfmetacarpal |
| 1561 | + operation: disable # Never in collision |
| 1562 | + - object1: ffknuckle |
| 1563 | + object2: lfmiddle |
| 1564 | + operation: disable # Never in collision |
| 1565 | + - object1: ffknuckle |
| 1566 | + object2: lfproximal |
| 1567 | + operation: disable # Never in collision |
| 1568 | + - object1: ffknuckle |
| 1569 | + object2: mfdistal |
| 1570 | + operation: disable # Never in collision |
| 1571 | + - object1: ffknuckle |
| 1572 | + object2: mfknuckle |
| 1573 | + operation: disable # Never in collision |
| 1574 | + - object1: ffknuckle |
| 1575 | + object2: mfmiddle |
| 1576 | + operation: disable # Never in collision |
| 1577 | + - object1: ffknuckle |
| 1578 | + object2: mfproximal |
| 1579 | + operation: disable # Never in collision |
| 1580 | + - object1: ffknuckle |
| 1581 | + object2: rfdistal |
| 1582 | + operation: disable # Never in collision |
| 1583 | + - object1: ffknuckle |
| 1584 | + object2: rfknuckle |
| 1585 | + operation: disable # Never in collision |
| 1586 | + - object1: ffknuckle |
| 1587 | + object2: rfmiddle |
| 1588 | + operation: disable # Never in collision |
| 1589 | + - object1: ffknuckle |
| 1590 | + object2: rfproximal |
| 1591 | + operation: disable # Never in collision |
| 1592 | + - object1: ffknuckle |
| 1593 | + object2: shadowarm_base |
| 1594 | + operation: disable # Never in collision |
| 1595 | + - object1: ffknuckle |
| 1596 | + object2: shadowarm_handsupport |
| 1597 | + operation: disable # Never in collision |
| 1598 | + - object1: ffknuckle |
| 1599 | + object2: shadowarm_lowerarm |
| 1600 | + operation: disable # Never in collision |
| 1601 | + - object1: ffknuckle |
| 1602 | + object2: shadowarm_trunk |
| 1603 | + operation: disable # Never in collision |
| 1604 | + - object1: ffknuckle |
| 1605 | + object2: shadowarm_upperarm |
| 1606 | + operation: disable # Never in collision |
| 1607 | + - object1: ffknuckle |
| 1608 | + object2: thbase |
| 1609 | + operation: disable # Never in collision |
| 1610 | + - object1: ffknuckle |
| 1611 | + object2: thhub |
| 1612 | + operation: disable # Never in collision |
| 1613 | + - object1: ffknuckle |
| 1614 | + object2: thmiddle |
| 1615 | + operation: disable # Never in collision |
| 1616 | + - object1: ffknuckle |
| 1617 | + object2: thproximal |
| 1618 | + operation: disable # Never in collision |
| 1619 | + - object1: ffknuckle |
| 1620 | + object2: wrist |
| 1621 | + operation: disable # Never in collision |
| 1622 | + - object1: ffmiddle |
| 1623 | + object2: forearm |
| 1624 | + operation: disable # Never in collision |
| 1625 | + - object1: ffmiddle |
| 1626 | + object2: lfdistal |
| 1627 | + operation: disable # Never in collision |
| 1628 | + - object1: ffmiddle |
| 1629 | + object2: lfknuckle |
| 1630 | + operation: disable # Never in collision |
| 1631 | + - object1: ffmiddle |
| 1632 | + object2: lfmetacarpal |
| 1633 | + operation: disable # Never in collision |
| 1634 | + - object1: ffmiddle |
| 1635 | + object2: lfmiddle |
| 1636 | + operation: disable # Never in collision |
| 1637 | + - object1: ffmiddle |
| 1638 | + object2: lfproximal |
| 1639 | + operation: disable # Never in collision |
| 1640 | + - object1: ffmiddle |
| 1641 | + object2: mfknuckle |
| 1642 | + operation: disable # Never in collision |
| 1643 | + - object1: ffmiddle |
| 1644 | + object2: palm |
| 1645 | + operation: disable # Never in collision |
| 1646 | + - object1: ffmiddle |
| 1647 | + object2: rfdistal |
| 1648 | + operation: disable # Never in collision |
| 1649 | + - object1: ffmiddle |
| 1650 | + object2: rfknuckle |
| 1651 | + operation: disable # Never in collision |
| 1652 | + - object1: ffmiddle |
| 1653 | + object2: rfmiddle |
| 1654 | + operation: disable # Never in collision |
| 1655 | + - object1: ffmiddle |
| 1656 | + object2: rfproximal |
| 1657 | + operation: disable # Never in collision |
| 1658 | + - object1: ffmiddle |
| 1659 | + object2: shadowarm_base |
| 1660 | + operation: disable # Never in collision |
| 1661 | + - object1: ffmiddle |
| 1662 | + object2: shadowarm_handsupport |
| 1663 | + operation: disable # Never in collision |
| 1664 | + - object1: ffmiddle |
| 1665 | + object2: shadowarm_lowerarm |
| 1666 | + operation: disable # Never in collision |
| 1667 | + - object1: ffmiddle |
| 1668 | + object2: shadowarm_trunk |
| 1669 | + operation: disable # Never in collision |
| 1670 | + - object1: ffmiddle |
| 1671 | + object2: shadowarm_upperarm |
| 1672 | + operation: disable # Never in collision |
| 1673 | + - object1: ffmiddle |
| 1674 | + object2: thbase |
| 1675 | + operation: disable # Never in collision |
| 1676 | + - object1: ffmiddle |
| 1677 | + object2: thhub |
| 1678 | + operation: disable # Never in collision |
| 1679 | + - object1: ffmiddle |
| 1680 | + object2: thmiddle |
| 1681 | + operation: disable # Never in collision |
| 1682 | + - object1: ffmiddle |
| 1683 | + object2: thproximal |
| 1684 | + operation: disable # Never in collision |
| 1685 | + - object1: ffmiddle |
| 1686 | + object2: wrist |
| 1687 | + operation: disable # Never in collision |
| 1688 | + - object1: ffproximal |
| 1689 | + object2: forearm |
| 1690 | + operation: disable # Never in collision |
| 1691 | + - object1: ffproximal |
| 1692 | + object2: lfdistal |
| 1693 | + operation: disable # Never in collision |
| 1694 | + - object1: ffproximal |
| 1695 | + object2: lfknuckle |
| 1696 | + operation: disable # Never in collision |
| 1697 | + - object1: ffproximal |
| 1698 | + object2: lfmetacarpal |
| 1699 | + operation: disable # Never in collision |
| 1700 | + - object1: ffproximal |
| 1701 | + object2: lfmiddle |
| 1702 | + operation: disable # Never in collision |
| 1703 | + - object1: ffproximal |
| 1704 | + object2: lfproximal |
| 1705 | + operation: disable # Never in collision |
| 1706 | + - object1: ffproximal |
| 1707 | + object2: mfdistal |
| 1708 | + operation: disable # Never in collision |
| 1709 | + - object1: ffproximal |
| 1710 | + object2: mfknuckle |
| 1711 | + operation: disable # Never in collision |
| 1712 | + - object1: ffproximal |
| 1713 | + object2: mfmiddle |
| 1714 | + operation: disable # Never in collision |
| 1715 | + - object1: ffproximal |
| 1716 | + object2: palm |
| 1717 | + operation: disable # Never in collision |
| 1718 | + - object1: ffproximal |
| 1719 | + object2: rfdistal |
| 1720 | + operation: disable # Never in collision |
| 1721 | + - object1: ffproximal |
| 1722 | + object2: rfknuckle |
| 1723 | + operation: disable # Never in collision |
| 1724 | + - object1: ffproximal |
| 1725 | + object2: rfmiddle |
| 1726 | + operation: disable # Never in collision |
| 1727 | + - object1: ffproximal |
| 1728 | + object2: rfproximal |
| 1729 | + operation: disable # Never in collision |
| 1730 | + - object1: ffproximal |
| 1731 | + object2: shadowarm_base |
| 1732 | + operation: disable # Never in collision |
| 1733 | + - object1: ffproximal |
| 1734 | + object2: shadowarm_handsupport |
| 1735 | + operation: disable # Never in collision |
| 1736 | + - object1: ffproximal |
| 1737 | + object2: shadowarm_lowerarm |
| 1738 | + operation: disable # Never in collision |
| 1739 | + - object1: ffproximal |
| 1740 | + object2: shadowarm_trunk |
| 1741 | + operation: disable # Never in collision |
| 1742 | + - object1: ffproximal |
| 1743 | + object2: shadowarm_upperarm |
| 1744 | + operation: disable # Never in collision |
| 1745 | + - object1: ffproximal |
| 1746 | + object2: thbase |
| 1747 | + operation: disable # Never in collision |
| 1748 | + - object1: ffproximal |
| 1749 | + object2: thhub |
| 1750 | + operation: disable # Never in collision |
| 1751 | + - object1: ffproximal |
| 1752 | + object2: thmiddle |
| 1753 | + operation: disable # Never in collision |
| 1754 | + - object1: ffproximal |
| 1755 | + object2: thproximal |
| 1756 | + operation: disable # Never in collision |
| 1757 | + - object1: ffproximal |
| 1758 | + object2: wrist |
| 1759 | + operation: disable # Never in collision |
| 1760 | + - object1: forearm |
| 1761 | + object2: lfdistal |
| 1762 | + operation: disable # Never in collision |
| 1763 | + - object1: forearm |
| 1764 | + object2: lfknuckle |
| 1765 | + operation: disable # Never in collision |
| 1766 | + - object1: forearm |
| 1767 | + object2: lfmetacarpal |
| 1768 | + operation: disable # Never in collision |
| 1769 | + - object1: forearm |
| 1770 | + object2: lfmiddle |
| 1771 | + operation: disable # Never in collision |
| 1772 | + - object1: forearm |
| 1773 | + object2: lfproximal |
| 1774 | + operation: disable # Never in collision |
| 1775 | + - object1: forearm |
| 1776 | + object2: mfdistal |
| 1777 | + operation: disable # Never in collision |
| 1778 | + - object1: forearm |
| 1779 | + object2: mfknuckle |
| 1780 | + operation: disable # Never in collision |
| 1781 | + - object1: forearm |
| 1782 | + object2: mfmiddle |
| 1783 | + operation: disable # Never in collision |
| 1784 | + - object1: forearm |
| 1785 | + object2: mfproximal |
| 1786 | + operation: disable # Never in collision |
| 1787 | + - object1: forearm |
| 1788 | + object2: palm |
| 1789 | + operation: disable # Never in collision |
| 1790 | + - object1: forearm |
| 1791 | + object2: rfdistal |
| 1792 | + operation: disable # Never in collision |
| 1793 | + - object1: forearm |
| 1794 | + object2: rfknuckle |
| 1795 | + operation: disable # Never in collision |
| 1796 | + - object1: forearm |
| 1797 | + object2: rfmiddle |
| 1798 | + operation: disable # Never in collision |
| 1799 | + - object1: forearm |
| 1800 | + object2: rfproximal |
| 1801 | + operation: disable # Never in collision |
| 1802 | + - object1: forearm |
| 1803 | + object2: shadowarm_base |
| 1804 | + operation: disable # Never in collision |
| 1805 | + - object1: forearm |
| 1806 | + object2: shadowarm_trunk |
| 1807 | + operation: disable # Never in collision |
| 1808 | + - object1: forearm |
| 1809 | + object2: shadowarm_upperarm |
| 1810 | + operation: disable # Never in collision |
| 1811 | + - object1: forearm |
| 1812 | + object2: thbase |
| 1813 | + operation: disable # Never in collision |
| 1814 | + - object1: forearm |
| 1815 | + object2: thdistal |
| 1816 | + operation: disable # Never in collision |
| 1817 | + - object1: forearm |
| 1818 | + object2: thhub |
| 1819 | + operation: disable # Never in collision |
| 1820 | + - object1: forearm |
| 1821 | + object2: thmiddle |
| 1822 | + operation: disable # Never in collision |
| 1823 | + - object1: forearm |
| 1824 | + object2: thproximal |
| 1825 | + operation: disable # Never in collision |
| 1826 | + - object1: lfdistal |
| 1827 | + object2: lfknuckle |
| 1828 | + operation: disable # Never in collision |
| 1829 | + - object1: lfdistal |
| 1830 | + object2: lfmetacarpal |
| 1831 | + operation: disable # Never in collision |
| 1832 | + - object1: lfdistal |
| 1833 | + object2: lfproximal |
| 1834 | + operation: disable # Never in collision |
| 1835 | + - object1: lfdistal |
| 1836 | + object2: mfknuckle |
| 1837 | + operation: disable # Never in collision |
| 1838 | + - object1: lfdistal |
| 1839 | + object2: mfproximal |
| 1840 | + operation: disable # Never in collision |
| 1841 | + - object1: lfdistal |
| 1842 | + object2: palm |
| 1843 | + operation: disable # Never in collision |
| 1844 | + - object1: lfdistal |
| 1845 | + object2: rfknuckle |
| 1846 | + operation: disable # Never in collision |
| 1847 | + - object1: lfdistal |
| 1848 | + object2: shadowarm_base |
| 1849 | + operation: disable # Never in collision |
| 1850 | + - object1: lfdistal |
| 1851 | + object2: shadowarm_handsupport |
| 1852 | + operation: disable # Never in collision |
| 1853 | + - object1: lfdistal |
| 1854 | + object2: shadowarm_lowerarm |
| 1855 | + operation: disable # Never in collision |
| 1856 | + - object1: lfdistal |
| 1857 | + object2: shadowarm_trunk |
| 1858 | + operation: disable # Never in collision |
| 1859 | + - object1: lfdistal |
| 1860 | + object2: shadowarm_upperarm |
| 1861 | + operation: disable # Never in collision |
| 1862 | + - object1: lfdistal |
| 1863 | + object2: thbase |
| 1864 | + operation: disable # Never in collision |
| 1865 | + - object1: lfdistal |
| 1866 | + object2: thhub |
| 1867 | + operation: disable # Never in collision |
| 1868 | + - object1: lfdistal |
| 1869 | + object2: thmiddle |
| 1870 | + operation: disable # Never in collision |
| 1871 | + - object1: lfdistal |
| 1872 | + object2: thproximal |
| 1873 | + operation: disable # Never in collision |
| 1874 | + - object1: lfdistal |
| 1875 | + object2: wrist |
| 1876 | + operation: disable # Never in collision |
| 1877 | + - object1: lfknuckle |
| 1878 | + object2: lfmiddle |
| 1879 | + operation: disable # Never in collision |
| 1880 | + - object1: lfknuckle |
| 1881 | + object2: mfdistal |
| 1882 | + operation: disable # Never in collision |
| 1883 | + - object1: lfknuckle |
| 1884 | + object2: mfknuckle |
| 1885 | + operation: disable # Never in collision |
| 1886 | + - object1: lfknuckle |
| 1887 | + object2: mfmiddle |
| 1888 | + operation: disable # Never in collision |
| 1889 | + - object1: lfknuckle |
| 1890 | + object2: mfproximal |
| 1891 | + operation: disable # Never in collision |
| 1892 | + - object1: lfknuckle |
| 1893 | + object2: palm |
| 1894 | + operation: disable # Never in collision |
| 1895 | + - object1: lfknuckle |
| 1896 | + object2: rfdistal |
| 1897 | + operation: disable # Never in collision |
| 1898 | + - object1: lfknuckle |
| 1899 | + object2: rfknuckle |
| 1900 | + operation: disable # Never in collision |
| 1901 | + - object1: lfknuckle |
| 1902 | + object2: rfmiddle |
| 1903 | + operation: disable # Never in collision |
| 1904 | + - object1: lfknuckle |
| 1905 | + object2: rfproximal |
| 1906 | + operation: disable # Never in collision |
| 1907 | + - object1: lfknuckle |
| 1908 | + object2: shadowarm_base |
| 1909 | + operation: disable # Never in collision |
| 1910 | + - object1: lfknuckle |
| 1911 | + object2: shadowarm_handsupport |
| 1912 | + operation: disable # Never in collision |
| 1913 | + - object1: lfknuckle |
| 1914 | + object2: shadowarm_lowerarm |
| 1915 | + operation: disable # Never in collision |
| 1916 | + - object1: lfknuckle |
| 1917 | + object2: shadowarm_trunk |
| 1918 | + operation: disable # Never in collision |
| 1919 | + - object1: lfknuckle |
| 1920 | + object2: shadowarm_upperarm |
| 1921 | + operation: disable # Never in collision |
| 1922 | + - object1: lfknuckle |
| 1923 | + object2: thbase |
| 1924 | + operation: disable # Never in collision |
| 1925 | + - object1: lfknuckle |
| 1926 | + object2: thdistal |
| 1927 | + operation: disable # Never in collision |
| 1928 | + - object1: lfknuckle |
| 1929 | + object2: thhub |
| 1930 | + operation: disable # Never in collision |
| 1931 | + - object1: lfknuckle |
| 1932 | + object2: thmiddle |
| 1933 | + operation: disable # Never in collision |
| 1934 | + - object1: lfknuckle |
| 1935 | + object2: thproximal |
| 1936 | + operation: disable # Never in collision |
| 1937 | + - object1: lfknuckle |
| 1938 | + object2: wrist |
| 1939 | + operation: disable # Never in collision |
| 1940 | + - object1: lfmetacarpal |
| 1941 | + object2: lfmiddle |
| 1942 | + operation: disable # Never in collision |
| 1943 | + - object1: lfmetacarpal |
| 1944 | + object2: lfproximal |
| 1945 | + operation: disable # Never in collision |
| 1946 | + - object1: lfmetacarpal |
| 1947 | + object2: mfdistal |
| 1948 | + operation: disable # Never in collision |
| 1949 | + - object1: lfmetacarpal |
| 1950 | + object2: mfknuckle |
| 1951 | + operation: disable # Never in collision |
| 1952 | + - object1: lfmetacarpal |
| 1953 | + object2: mfmiddle |
| 1954 | + operation: disable # Never in collision |
| 1955 | + - object1: lfmetacarpal |
| 1956 | + object2: mfproximal |
| 1957 | + operation: disable # Never in collision |
| 1958 | + - object1: lfmetacarpal |
| 1959 | + object2: rfdistal |
| 1960 | + operation: disable # Never in collision |
| 1961 | + - object1: lfmetacarpal |
| 1962 | + object2: rfknuckle |
| 1963 | + operation: disable # Never in collision |
| 1964 | + - object1: lfmetacarpal |
| 1965 | + object2: rfmiddle |
| 1966 | + operation: disable # Never in collision |
| 1967 | + - object1: lfmetacarpal |
| 1968 | + object2: rfproximal |
| 1969 | + operation: disable # Never in collision |
| 1970 | + - object1: lfmetacarpal |
| 1971 | + object2: shadowarm_base |
| 1972 | + operation: disable # Never in collision |
| 1973 | + - object1: lfmetacarpal |
| 1974 | + object2: shadowarm_handsupport |
| 1975 | + operation: disable # Never in collision |
| 1976 | + - object1: lfmetacarpal |
| 1977 | + object2: shadowarm_lowerarm |
| 1978 | + operation: disable # Never in collision |
| 1979 | + - object1: lfmetacarpal |
| 1980 | + object2: shadowarm_trunk |
| 1981 | + operation: disable # Never in collision |
| 1982 | + - object1: lfmetacarpal |
| 1983 | + object2: shadowarm_upperarm |
| 1984 | + operation: disable # Never in collision |
| 1985 | + - object1: lfmetacarpal |
| 1986 | + object2: thbase |
| 1987 | + operation: disable # Never in collision |
| 1988 | + - object1: lfmetacarpal |
| 1989 | + object2: thdistal |
| 1990 | + operation: disable # Never in collision |
| 1991 | + - object1: lfmetacarpal |
| 1992 | + object2: thhub |
| 1993 | + operation: disable # Never in collision |
| 1994 | + - object1: lfmetacarpal |
| 1995 | + object2: thmiddle |
| 1996 | + operation: disable # Never in collision |
| 1997 | + - object1: lfmetacarpal |
| 1998 | + object2: thproximal |
| 1999 | + operation: disable # Never in collision |
| 2000 | + - object1: lfmetacarpal |
| 2001 | + object2: wrist |
| 2002 | + operation: disable # Never in collision |
| 2003 | + - object1: lfmiddle |
| 2004 | + object2: mfknuckle |
| 2005 | + operation: disable # Never in collision |
| 2006 | + - object1: lfmiddle |
| 2007 | + object2: mfproximal |
| 2008 | + operation: disable # Never in collision |
| 2009 | + - object1: lfmiddle |
| 2010 | + object2: palm |
| 2011 | + operation: disable # Never in collision |
| 2012 | + - object1: lfmiddle |
| 2013 | + object2: rfknuckle |
| 2014 | + operation: disable # Never in collision |
| 2015 | + - object1: lfmiddle |
| 2016 | + object2: shadowarm_base |
| 2017 | + operation: disable # Never in collision |
| 2018 | + - object1: lfmiddle |
| 2019 | + object2: shadowarm_handsupport |
| 2020 | + operation: disable # Never in collision |
| 2021 | + - object1: lfmiddle |
| 2022 | + object2: shadowarm_lowerarm |
| 2023 | + operation: disable # Never in collision |
| 2024 | + - object1: lfmiddle |
| 2025 | + object2: shadowarm_trunk |
| 2026 | + operation: disable # Never in collision |
| 2027 | + - object1: lfmiddle |
| 2028 | + object2: shadowarm_upperarm |
| 2029 | + operation: disable # Never in collision |
| 2030 | + - object1: lfmiddle |
| 2031 | + object2: thbase |
| 2032 | + operation: disable # Never in collision |
| 2033 | + - object1: lfmiddle |
| 2034 | + object2: thhub |
| 2035 | + operation: disable # Never in collision |
| 2036 | + - object1: lfmiddle |
| 2037 | + object2: thmiddle |
| 2038 | + operation: disable # Never in collision |
| 2039 | + - object1: lfmiddle |
| 2040 | + object2: thproximal |
| 2041 | + operation: disable # Never in collision |
| 2042 | + - object1: lfmiddle |
| 2043 | + object2: wrist |
| 2044 | + operation: disable # Never in collision |
| 2045 | + - object1: lfproximal |
| 2046 | + object2: mfknuckle |
| 2047 | + operation: disable # Never in collision |
| 2048 | + - object1: lfproximal |
| 2049 | + object2: mfmiddle |
| 2050 | + operation: disable # Never in collision |
| 2051 | + - object1: lfproximal |
| 2052 | + object2: mfproximal |
| 2053 | + operation: disable # Never in collision |
| 2054 | + - object1: lfproximal |
| 2055 | + object2: palm |
| 2056 | + operation: disable # Never in collision |
| 2057 | + - object1: lfproximal |
| 2058 | + object2: rfknuckle |
| 2059 | + operation: disable # Never in collision |
| 2060 | + - object1: lfproximal |
| 2061 | + object2: shadowarm_base |
| 2062 | + operation: disable # Never in collision |
| 2063 | + - object1: lfproximal |
| 2064 | + object2: shadowarm_handsupport |
| 2065 | + operation: disable # Never in collision |
| 2066 | + - object1: lfproximal |
| 2067 | + object2: shadowarm_lowerarm |
| 2068 | + operation: disable # Never in collision |
| 2069 | + - object1: lfproximal |
| 2070 | + object2: shadowarm_trunk |
| 2071 | + operation: disable # Never in collision |
| 2072 | + - object1: lfproximal |
| 2073 | + object2: shadowarm_upperarm |
| 2074 | + operation: disable # Never in collision |
| 2075 | + - object1: lfproximal |
| 2076 | + object2: thbase |
| 2077 | + operation: disable # Never in collision |
| 2078 | + - object1: lfproximal |
| 2079 | + object2: thdistal |
| 2080 | + operation: disable # Never in collision |
| 2081 | + - object1: lfproximal |
| 2082 | + object2: thhub |
| 2083 | + operation: disable # Never in collision |
| 2084 | + - object1: lfproximal |
| 2085 | + object2: thmiddle |
| 2086 | + operation: disable # Never in collision |
| 2087 | + - object1: lfproximal |
| 2088 | + object2: thproximal |
| 2089 | + operation: disable # Never in collision |
| 2090 | + - object1: lfproximal |
| 2091 | + object2: wrist |
| 2092 | + operation: disable # Never in collision |
| 2093 | + - object1: mfdistal |
| 2094 | + object2: mfknuckle |
| 2095 | + operation: disable # Never in collision |
| 2096 | + - object1: mfdistal |
| 2097 | + object2: mfproximal |
| 2098 | + operation: disable # Never in collision |
| 2099 | + - object1: mfdistal |
| 2100 | + object2: palm |
| 2101 | + operation: disable # Never in collision |
| 2102 | + - object1: mfdistal |
| 2103 | + object2: rfknuckle |
| 2104 | + operation: disable # Never in collision |
| 2105 | + - object1: mfdistal |
| 2106 | + object2: shadowarm_base |
| 2107 | + operation: disable # Never in collision |
| 2108 | + - object1: mfdistal |
| 2109 | + object2: shadowarm_handsupport |
| 2110 | + operation: disable # Never in collision |
| 2111 | + - object1: mfdistal |
| 2112 | + object2: shadowarm_lowerarm |
| 2113 | + operation: disable # Never in collision |
| 2114 | + - object1: mfdistal |
| 2115 | + object2: shadowarm_trunk |
| 2116 | + operation: disable # Never in collision |
| 2117 | + - object1: mfdistal |
| 2118 | + object2: shadowarm_upperarm |
| 2119 | + operation: disable # Never in collision |
| 2120 | + - object1: mfdistal |
| 2121 | + object2: thbase |
| 2122 | + operation: disable # Never in collision |
| 2123 | + - object1: mfdistal |
| 2124 | + object2: thhub |
| 2125 | + operation: disable # Never in collision |
| 2126 | + - object1: mfdistal |
| 2127 | + object2: thproximal |
| 2128 | + operation: disable # Never in collision |
| 2129 | + - object1: mfdistal |
| 2130 | + object2: wrist |
| 2131 | + operation: disable # Never in collision |
| 2132 | + - object1: mfknuckle |
| 2133 | + object2: mfmiddle |
| 2134 | + operation: disable # Never in collision |
| 2135 | + - object1: mfknuckle |
| 2136 | + object2: rfdistal |
| 2137 | + operation: disable # Never in collision |
| 2138 | + - object1: mfknuckle |
| 2139 | + object2: rfknuckle |
| 2140 | + operation: disable # Never in collision |
| 2141 | + - object1: mfknuckle |
| 2142 | + object2: rfmiddle |
| 2143 | + operation: disable # Never in collision |
| 2144 | + - object1: mfknuckle |
| 2145 | + object2: rfproximal |
| 2146 | + operation: disable # Never in collision |
| 2147 | + - object1: mfknuckle |
| 2148 | + object2: shadowarm_base |
| 2149 | + operation: disable # Never in collision |
| 2150 | + - object1: mfknuckle |
| 2151 | + object2: shadowarm_handsupport |
| 2152 | + operation: disable # Never in collision |
| 2153 | + - object1: mfknuckle |
| 2154 | + object2: shadowarm_lowerarm |
| 2155 | + operation: disable # Never in collision |
| 2156 | + - object1: mfknuckle |
| 2157 | + object2: shadowarm_trunk |
| 2158 | + operation: disable # Never in collision |
| 2159 | + - object1: mfknuckle |
| 2160 | + object2: shadowarm_upperarm |
| 2161 | + operation: disable # Never in collision |
| 2162 | + - object1: mfknuckle |
| 2163 | + object2: thbase |
| 2164 | + operation: disable # Never in collision |
| 2165 | + - object1: mfknuckle |
| 2166 | + object2: thhub |
| 2167 | + operation: disable # Never in collision |
| 2168 | + - object1: mfknuckle |
| 2169 | + object2: thmiddle |
| 2170 | + operation: disable # Never in collision |
| 2171 | + - object1: mfknuckle |
| 2172 | + object2: thproximal |
| 2173 | + operation: disable # Never in collision |
| 2174 | + - object1: mfknuckle |
| 2175 | + object2: wrist |
| 2176 | + operation: disable # Never in collision |
| 2177 | + - object1: mfmiddle |
| 2178 | + object2: palm |
| 2179 | + operation: disable # Never in collision |
| 2180 | + - object1: mfmiddle |
| 2181 | + object2: rfknuckle |
| 2182 | + operation: disable # Never in collision |
| 2183 | + - object1: mfmiddle |
| 2184 | + object2: rfproximal |
| 2185 | + operation: disable # Never in collision |
| 2186 | + - object1: mfmiddle |
| 2187 | + object2: shadowarm_base |
| 2188 | + operation: disable # Never in collision |
| 2189 | + - object1: mfmiddle |
| 2190 | + object2: shadowarm_handsupport |
| 2191 | + operation: disable # Never in collision |
| 2192 | + - object1: mfmiddle |
| 2193 | + object2: shadowarm_lowerarm |
| 2194 | + operation: disable # Never in collision |
| 2195 | + - object1: mfmiddle |
| 2196 | + object2: shadowarm_trunk |
| 2197 | + operation: disable # Never in collision |
| 2198 | + - object1: mfmiddle |
| 2199 | + object2: shadowarm_upperarm |
| 2200 | + operation: disable # Never in collision |
| 2201 | + - object1: mfmiddle |
| 2202 | + object2: thbase |
| 2203 | + operation: disable # Never in collision |
| 2204 | + - object1: mfmiddle |
| 2205 | + object2: thhub |
| 2206 | + operation: disable # Never in collision |
| 2207 | + - object1: mfmiddle |
| 2208 | + object2: thmiddle |
| 2209 | + operation: disable # Never in collision |
| 2210 | + - object1: mfmiddle |
| 2211 | + object2: thproximal |
| 2212 | + operation: disable # Never in collision |
| 2213 | + - object1: mfmiddle |
| 2214 | + object2: wrist |
| 2215 | + operation: disable # Never in collision |
| 2216 | + - object1: mfproximal |
| 2217 | + object2: palm |
| 2218 | + operation: disable # Never in collision |
| 2219 | + - object1: mfproximal |
| 2220 | + object2: rfdistal |
| 2221 | + operation: disable # Never in collision |
| 2222 | + - object1: mfproximal |
| 2223 | + object2: rfknuckle |
| 2224 | + operation: disable # Never in collision |
| 2225 | + - object1: mfproximal |
| 2226 | + object2: rfmiddle |
| 2227 | + operation: disable # Never in collision |
| 2228 | + - object1: mfproximal |
| 2229 | + object2: shadowarm_base |
| 2230 | + operation: disable # Never in collision |
| 2231 | + - object1: mfproximal |
| 2232 | + object2: shadowarm_handsupport |
| 2233 | + operation: disable # Never in collision |
| 2234 | + - object1: mfproximal |
| 2235 | + object2: shadowarm_lowerarm |
| 2236 | + operation: disable # Never in collision |
| 2237 | + - object1: mfproximal |
| 2238 | + object2: shadowarm_trunk |
| 2239 | + operation: disable # Never in collision |
| 2240 | + - object1: mfproximal |
| 2241 | + object2: shadowarm_upperarm |
| 2242 | + operation: disable # Never in collision |
| 2243 | + - object1: mfproximal |
| 2244 | + object2: thbase |
| 2245 | + operation: disable # Never in collision |
| 2246 | + - object1: mfproximal |
| 2247 | + object2: thhub |
| 2248 | + operation: disable # Never in collision |
| 2249 | + - object1: mfproximal |
| 2250 | + object2: thmiddle |
| 2251 | + operation: disable # Never in collision |
| 2252 | + - object1: mfproximal |
| 2253 | + object2: thproximal |
| 2254 | + operation: disable # Never in collision |
| 2255 | + - object1: mfproximal |
| 2256 | + object2: wrist |
| 2257 | + operation: disable # Never in collision |
| 2258 | + - object1: palm |
| 2259 | + object2: rfdistal |
| 2260 | + operation: disable # Never in collision |
| 2261 | + - object1: palm |
| 2262 | + object2: rfmiddle |
| 2263 | + operation: disable # Never in collision |
| 2264 | + - object1: palm |
| 2265 | + object2: rfproximal |
| 2266 | + operation: disable # Never in collision |
| 2267 | + - object1: palm |
| 2268 | + object2: shadowarm_base |
| 2269 | + operation: disable # Never in collision |
| 2270 | + - object1: palm |
| 2271 | + object2: shadowarm_handsupport |
| 2272 | + operation: disable # Never in collision |
| 2273 | + - object1: palm |
| 2274 | + object2: shadowarm_lowerarm |
| 2275 | + operation: disable # Never in collision |
| 2276 | + - object1: palm |
| 2277 | + object2: shadowarm_trunk |
| 2278 | + operation: disable # Never in collision |
| 2279 | + - object1: palm |
| 2280 | + object2: shadowarm_upperarm |
| 2281 | + operation: disable # Never in collision |
| 2282 | + - object1: palm |
| 2283 | + object2: thdistal |
| 2284 | + operation: disable # Never in collision |
| 2285 | + - object1: palm |
| 2286 | + object2: thhub |
| 2287 | + operation: disable # Never in collision |
| 2288 | + - object1: palm |
| 2289 | + object2: thmiddle |
| 2290 | + operation: disable # Never in collision |
| 2291 | + - object1: palm |
| 2292 | + object2: thproximal |
| 2293 | + operation: disable # Never in collision |
| 2294 | + - object1: rfdistal |
| 2295 | + object2: rfknuckle |
| 2296 | + operation: disable # Never in collision |
| 2297 | + - object1: rfdistal |
| 2298 | + object2: rfproximal |
| 2299 | + operation: disable # Never in collision |
| 2300 | + - object1: rfdistal |
| 2301 | + object2: shadowarm_base |
| 2302 | + operation: disable # Never in collision |
| 2303 | + - object1: rfdistal |
| 2304 | + object2: shadowarm_handsupport |
| 2305 | + operation: disable # Never in collision |
| 2306 | + - object1: rfdistal |
| 2307 | + object2: shadowarm_lowerarm |
| 2308 | + operation: disable # Never in collision |
| 2309 | + - object1: rfdistal |
| 2310 | + object2: shadowarm_trunk |
| 2311 | + operation: disable # Never in collision |
| 2312 | + - object1: rfdistal |
| 2313 | + object2: shadowarm_upperarm |
| 2314 | + operation: disable # Never in collision |
| 2315 | + - object1: rfdistal |
| 2316 | + object2: thbase |
| 2317 | + operation: disable # Never in collision |
| 2318 | + - object1: rfdistal |
| 2319 | + object2: thhub |
| 2320 | + operation: disable # Never in collision |
| 2321 | + - object1: rfdistal |
| 2322 | + object2: thmiddle |
| 2323 | + operation: disable # Never in collision |
| 2324 | + - object1: rfdistal |
| 2325 | + object2: thproximal |
| 2326 | + operation: disable # Never in collision |
| 2327 | + - object1: rfdistal |
| 2328 | + object2: wrist |
| 2329 | + operation: disable # Never in collision |
| 2330 | + - object1: rfknuckle |
| 2331 | + object2: rfmiddle |
| 2332 | + operation: disable # Never in collision |
| 2333 | + - object1: rfknuckle |
| 2334 | + object2: shadowarm_base |
| 2335 | + operation: disable # Never in collision |
| 2336 | + - object1: rfknuckle |
| 2337 | + object2: shadowarm_handsupport |
| 2338 | + operation: disable # Never in collision |
| 2339 | + - object1: rfknuckle |
| 2340 | + object2: shadowarm_lowerarm |
| 2341 | + operation: disable # Never in collision |
| 2342 | + - object1: rfknuckle |
| 2343 | + object2: shadowarm_trunk |
| 2344 | + operation: disable # Never in collision |
| 2345 | + - object1: rfknuckle |
| 2346 | + object2: shadowarm_upperarm |
| 2347 | + operation: disable # Never in collision |
| 2348 | + - object1: rfknuckle |
| 2349 | + object2: thbase |
| 2350 | + operation: disable # Never in collision |
| 2351 | + - object1: rfknuckle |
| 2352 | + object2: thdistal |
| 2353 | + operation: disable # Never in collision |
| 2354 | + - object1: rfknuckle |
| 2355 | + object2: thhub |
| 2356 | + operation: disable # Never in collision |
| 2357 | + - object1: rfknuckle |
| 2358 | + object2: thmiddle |
| 2359 | + operation: disable # Never in collision |
| 2360 | + - object1: rfknuckle |
| 2361 | + object2: thproximal |
| 2362 | + operation: disable # Never in collision |
| 2363 | + - object1: rfknuckle |
| 2364 | + object2: wrist |
| 2365 | + operation: disable # Never in collision |
| 2366 | + - object1: rfmiddle |
| 2367 | + object2: shadowarm_base |
| 2368 | + operation: disable # Never in collision |
| 2369 | + - object1: rfmiddle |
| 2370 | + object2: shadowarm_handsupport |
| 2371 | + operation: disable # Never in collision |
| 2372 | + - object1: rfmiddle |
| 2373 | + object2: shadowarm_lowerarm |
| 2374 | + operation: disable # Never in collision |
| 2375 | + - object1: rfmiddle |
| 2376 | + object2: shadowarm_trunk |
| 2377 | + operation: disable # Never in collision |
| 2378 | + - object1: rfmiddle |
| 2379 | + object2: shadowarm_upperarm |
| 2380 | + operation: disable # Never in collision |
| 2381 | + - object1: rfmiddle |
| 2382 | + object2: thbase |
| 2383 | + operation: disable # Never in collision |
| 2384 | + - object1: rfmiddle |
| 2385 | + object2: thdistal |
| 2386 | + operation: disable # Never in collision |
| 2387 | + - object1: rfmiddle |
| 2388 | + object2: thhub |
| 2389 | + operation: disable # Never in collision |
| 2390 | + - object1: rfmiddle |
| 2391 | + object2: thmiddle |
| 2392 | + operation: disable # Never in collision |
| 2393 | + - object1: rfmiddle |
| 2394 | + object2: thproximal |
| 2395 | + operation: disable # Never in collision |
| 2396 | + - object1: rfmiddle |
| 2397 | + object2: wrist |
| 2398 | + operation: disable # Never in collision |
| 2399 | + - object1: rfproximal |
| 2400 | + object2: shadowarm_base |
| 2401 | + operation: disable # Never in collision |
| 2402 | + - object1: rfproximal |
| 2403 | + object2: shadowarm_handsupport |
| 2404 | + operation: disable # Never in collision |
| 2405 | + - object1: rfproximal |
| 2406 | + object2: shadowarm_lowerarm |
| 2407 | + operation: disable # Never in collision |
| 2408 | + - object1: rfproximal |
| 2409 | + object2: shadowarm_trunk |
| 2410 | + operation: disable # Never in collision |
| 2411 | + - object1: rfproximal |
| 2412 | + object2: shadowarm_upperarm |
| 2413 | + operation: disable # Never in collision |
| 2414 | + - object1: rfproximal |
| 2415 | + object2: thbase |
| 2416 | + operation: disable # Never in collision |
| 2417 | + - object1: rfproximal |
| 2418 | + object2: thdistal |
| 2419 | + operation: disable # Never in collision |
| 2420 | + - object1: rfproximal |
| 2421 | + object2: thhub |
| 2422 | + operation: disable # Never in collision |
| 2423 | + - object1: rfproximal |
| 2424 | + object2: thmiddle |
| 2425 | + operation: disable # Never in collision |
| 2426 | + - object1: rfproximal |
| 2427 | + object2: thproximal |
| 2428 | + operation: disable # Never in collision |
| 2429 | + - object1: rfproximal |
| 2430 | + object2: wrist |
| 2431 | + operation: disable # Never in collision |
| 2432 | + - object1: shadowarm_base |
| 2433 | + object2: shadowarm_handsupport |
| 2434 | + operation: disable # Never in collision |
| 2435 | + - object1: shadowarm_base |
| 2436 | + object2: shadowarm_lowerarm |
| 2437 | + operation: disable # Never in collision |
| 2438 | + - object1: shadowarm_base |
| 2439 | + object2: shadowarm_upperarm |
| 2440 | + operation: disable # Never in collision |
| 2441 | + - object1: shadowarm_base |
| 2442 | + object2: thbase |
| 2443 | + operation: disable # Never in collision |
| 2444 | + - object1: shadowarm_base |
| 2445 | + object2: thdistal |
| 2446 | + operation: disable # Never in collision |
| 2447 | + - object1: shadowarm_base |
| 2448 | + object2: thhub |
| 2449 | + operation: disable # Never in collision |
| 2450 | + - object1: shadowarm_base |
| 2451 | + object2: thmiddle |
| 2452 | + operation: disable # Never in collision |
| 2453 | + - object1: shadowarm_base |
| 2454 | + object2: thproximal |
| 2455 | + operation: disable # Never in collision |
| 2456 | + - object1: shadowarm_base |
| 2457 | + object2: wrist |
| 2458 | + operation: disable # Never in collision |
| 2459 | + - object1: shadowarm_handsupport |
| 2460 | + object2: shadowarm_trunk |
| 2461 | + operation: disable # Never in collision |
| 2462 | + - object1: shadowarm_handsupport |
| 2463 | + object2: shadowarm_upperarm |
| 2464 | + operation: disable # Never in collision |
| 2465 | + - object1: shadowarm_handsupport |
| 2466 | + object2: thbase |
| 2467 | + operation: disable # Never in collision |
| 2468 | + - object1: shadowarm_handsupport |
| 2469 | + object2: thdistal |
| 2470 | + operation: disable # Never in collision |
| 2471 | + - object1: shadowarm_handsupport |
| 2472 | + object2: thhub |
| 2473 | + operation: disable # Never in collision |
| 2474 | + - object1: shadowarm_handsupport |
| 2475 | + object2: thmiddle |
| 2476 | + operation: disable # Never in collision |
| 2477 | + - object1: shadowarm_handsupport |
| 2478 | + object2: thproximal |
| 2479 | + operation: disable # Never in collision |
| 2480 | + - object1: shadowarm_handsupport |
| 2481 | object2: wrist |
| 2482 | operation: disable # Never in collision |
| 2483 | - object1: shadowarm_lowerarm |
| 2484 | |
| 2485 | === modified file 'shadow_arm_navigation/launch/constraint_aware_kinematics.launch' |
| 2486 | --- shadow_arm_navigation/launch/constraint_aware_kinematics.launch 2012-04-18 19:58:04 +0000 |
| 2487 | +++ shadow_arm_navigation/launch/constraint_aware_kinematics.launch 2012-10-31 08:29:25 +0000 |
| 2488 | @@ -2,7 +2,7 @@ |
| 2489 | <include file="$(find shadow_arm_navigation)/launch/shadow_planning_environment.launch" /> |
| 2490 | <node pkg="arm_kinematics_constraint_aware" type="arm_kinematics_constraint_aware" name="shadow_right_arm_kinematics"> |
| 2491 | <param name="group" type="string" value="right_arm" /> |
| 2492 | - <param name="right_arm/root_name" type="string" value="desk_support" /> |
| 2493 | + <param name="right_arm/root_name" type="string" value="shadowarm_base" /> |
| 2494 | <param name="right_arm/tip_name" type="string" value="palm" /> |
| 2495 | <param name="kinematics_solver" type="string" value="arm_kinematics_constraint_aware/KDLArmKinematicsPlugin" /> |
| 2496 | <remap from="joint_states" to="/joint_states"/> |
| 2497 | |
| 2498 | === modified file 'shadow_arm_navigation/launch/shadow_arm_navigation.launch' |
| 2499 | --- shadow_arm_navigation/launch/shadow_arm_navigation.launch 2012-04-18 19:58:04 +0000 |
| 2500 | +++ shadow_arm_navigation/launch/shadow_arm_navigation.launch 2012-10-31 08:29:25 +0000 |
| 2501 | @@ -2,7 +2,7 @@ |
| 2502 | <include file="$(find shadow_arm_navigation)/launch/shadow_planning_environment.launch" /> |
| 2503 | <include file="$(find planning_environment)/launch/environment_server.launch"> |
| 2504 | <arg name="use_monitor" value="true" /> |
| 2505 | - <arg name="use_collision_map" value="true" /> |
| 2506 | + <arg name="use_collision_map" value="false" /> |
| 2507 | </include> |
| 2508 | <include file="$(find shadow_arm_navigation)/launch/constraint_aware_kinematics.launch" /> |
| 2509 | <include file="$(find shadow_arm_navigation)/launch/ompl_planning.launch" /> |
| 2510 | |
| 2511 | === modified file 'sr_gui_manipulation/lib/SrGuiManipulation.py' |
| 2512 | --- sr_gui_manipulation/lib/SrGuiManipulation.py 2012-08-28 08:10:49 +0000 |
| 2513 | +++ sr_gui_manipulation/lib/SrGuiManipulation.py 2012-10-31 08:29:25 +0000 |
| 2514 | @@ -17,6 +17,10 @@ |
| 2515 | import os |
| 2516 | import math |
| 2517 | |
| 2518 | +import scipy |
| 2519 | +import scipy.linalg |
| 2520 | +import numpy as np |
| 2521 | + |
| 2522 | import roslib; roslib.load_manifest('sr_gui_manipulation') |
| 2523 | import rospy |
| 2524 | from rospy import loginfo, logerr, logdebug |
| 2525 | @@ -32,9 +36,10 @@ |
| 2526 | from tabletop_object_detector.srv import TabletopDetection |
| 2527 | from tabletop_collision_map_processing.srv import TabletopCollisionMapProcessing |
| 2528 | from household_objects_database_msgs.srv import GetModelDescription |
| 2529 | +from household_objects_database_msgs.msg import DatabaseModelPose |
| 2530 | import object_manipulator.draw_functions as draw_functions |
| 2531 | from object_manipulation_msgs.srv import FindClusterBoundingBox, FindClusterBoundingBoxRequest |
| 2532 | -from object_manipulation_msgs.msg import Grasp, PickupGoal, PickupAction, PlaceGoal, PlaceAction |
| 2533 | +from object_manipulation_msgs.msg import Grasp, PickupGoal, PickupAction, PickupResult, PlaceGoal, PlaceAction, ManipulationResult, GraspableObject |
| 2534 | from object_manipulator.convert_functions import * |
| 2535 | from geometry_msgs.msg import Vector3Stamped, PoseStamped, Pose |
| 2536 | import actionlib |
| 2537 | @@ -44,6 +49,10 @@ |
| 2538 | from tf import transformations |
| 2539 | import tf |
| 2540 | |
| 2541 | +import copy |
| 2542 | + |
| 2543 | +from execution import Execution |
| 2544 | + |
| 2545 | import yaml |
| 2546 | |
| 2547 | class ObjectChooser(QWidget): |
| 2548 | @@ -61,6 +70,7 @@ |
| 2549 | self.pickup_result = None |
| 2550 | self.listener = tf.TransformListener() |
| 2551 | self.grasp_display_publisher = rospy.Publisher("/grasp_display", Grasp) |
| 2552 | + self.pickupservice = Execution() |
| 2553 | |
| 2554 | def draw(self): |
| 2555 | self.frame = QFrame(self) |
| 2556 | @@ -98,52 +108,95 @@ |
| 2557 | |
| 2558 | box_mat = pose_to_mat(box_pose.pose) |
| 2559 | rospy.logerr("box_pose %f %f %f q: %f %f %f %f",box_pose.pose.position.x,box_pose.pose.position.y,box_pose.pose.position.z, |
| 2560 | -box_pose.pose.orientation.x,box_pose.pose.orientation.y,box_pose.pose.orientation.z,box_pose.pose.orientation.w) |
| 2561 | + box_pose.pose.orientation.x,box_pose.pose.orientation.y,box_pose.pose.orientation.z,box_pose.pose.orientation.w) |
| 2562 | box_ranges = [[-box_dims.x / 2, -box_dims.y / 2, -box_dims.z / 2], |
| 2563 | [box_dims.x / 2, box_dims.y / 2, box_dims.z / 2]] |
| 2564 | self.box_pose=box_pose |
| 2565 | |
| 2566 | - self.draw_functions.draw_rviz_box(box_mat, box_ranges, '/fixed', |
| 2567 | + self.draw_functions.draw_rviz_box(box_mat, box_ranges, '/world', |
| 2568 | ns='bounding box', |
| 2569 | color=[0, 0, 1], opaque=0.25, duration=60) |
| 2570 | |
| 2571 | # call the pickup service |
| 2572 | res = self.pickup(graspable_object, self.object.graspable_object_name, self.object_name) |
| 2573 | - |
| 2574 | + |
| 2575 | if res == 0: #correctly picked up |
| 2576 | #TODO: set up place_location |
| 2577 | + executed_grasp = self.pickup_result.grasp |
| 2578 | initial_pose = PoseStamped() |
| 2579 | initial_pose.header.stamp = rospy.get_rostime() |
| 2580 | - initial_pose.header.frame_id = "/fixed" |
| 2581 | - initial_pose.pose.position.x = 0.0#self.box_pose.pose.position.x+0.0 |
| 2582 | - initial_pose.pose.position.y = -0.1#self.box_pose.pose.position.y-0.2 |
| 2583 | - initial_pose.pose.position.z = 0.05#self.box_pose.pose.position.z+0.05 |
| 2584 | + initial_pose.header.frame_id = "/world" |
| 2585 | + initial_pose.pose.position.x = self.box_pose.pose.position.x+0.1 |
| 2586 | + initial_pose.pose.position.y = self.box_pose.pose.position.y-0.3 |
| 2587 | + initial_pose.pose.position.z = self.box_pose.pose.position.z-box_dims.z/2 # graspable object is from bottom but bounding box is at center ! |
| 2588 | q=transformations.quaternion_about_axis(-0.05, (0,0,1)) |
| 2589 | - initial_pose.pose.orientation.x = q[0] |
| 2590 | - initial_pose.pose.orientation.y = q[1] |
| 2591 | - initial_pose.pose.orientation.z = q[2] |
| 2592 | - initial_pose.pose.orientation.w = q[3] |
| 2593 | + initial_pose.pose.orientation.x = self.box_pose.pose.orientation.x #q[0] |
| 2594 | + initial_pose.pose.orientation.y = self.box_pose.pose.orientation.y#q[1] |
| 2595 | + initial_pose.pose.orientation.z = self.box_pose.pose.orientation.z#q[2] |
| 2596 | + initial_pose.pose.orientation.w = self.box_pose.pose.orientation.w#q[3] |
| 2597 | |
| 2598 | - self.list_of_poses = self.compute_list_of_poses(initial_pose, graspable_object) |
| 2599 | + self.list_of_poses = self.compute_list_of_poses(initial_pose, graspable_object, executed_grasp) |
| 2600 | + #print "list of pose",self.list_of_poses |
| 2601 | |
| 2602 | self.place_object(graspable_object, self.object.graspable_object_name, self.object_name, self.list_of_poses) |
| 2603 | + |
| 2604 | |
| 2605 | def place_click(self): |
| 2606 | + |
| 2607 | + if (self.pickup_result): |
| 2608 | + grasp = self.pickup_result.grasp |
| 2609 | + self.pickupservice.pre_grasp_exec(grasp,10.0) |
| 2610 | + else: |
| 2611 | + self.pickupservice.grasp_release_exec(10.0) |
| 2612 | + |
| 2613 | initial_pose = PoseStamped() |
| 2614 | initial_pose.header.stamp = rospy.get_rostime() |
| 2615 | - initial_pose.header.frame_id = self.object.graspable_object.reference_frame_id#"/fixed" |
| 2616 | - initial_pose.pose.position.x = 0.2#self.box_pose.pose.position.x+0.0 |
| 2617 | - initial_pose.pose.position.y = -0.1#self.box_pose.pose.position.y-0.2 |
| 2618 | - initial_pose.pose.position.z = 0.05#self.box_pose.pose.position.z+0.05 |
| 2619 | + initial_pose.header.frame_id = "/world"#"/fixed" |
| 2620 | + |
| 2621 | + #fake hand to world pose |
| 2622 | + initial_pose.pose.position.x = 0.4#self.box_pose.pose.position.x+0.0 |
| 2623 | + initial_pose.pose.position.y = 0.091# self.box_pose.pose.position.y-0.2 |
| 2624 | + initial_pose.pose.position.z = 1.25#self.box_pose.pose.position.z+0.05 |
| 2625 | q=transformations.quaternion_about_axis(-0.05, (0,0,1)) |
| 2626 | - initial_pose.pose.orientation.x = 0#q[0] |
| 2627 | - initial_pose.pose.orientation.y = 0#q[1] |
| 2628 | - initial_pose.pose.orientation.z = 0#q[2] |
| 2629 | - initial_pose.pose.orientation.w = 1#q[3] |
| 2630 | - |
| 2631 | - self.list_of_poses = self.compute_list_of_poses(initial_pose, self.object.graspable_object) |
| 2632 | - |
| 2633 | - self.place_object(self.object.graspable_object, self.object.graspable_object_name, self.object_name, self.list_of_poses) |
| 2634 | + initial_pose.pose.orientation.x = 0.41#self.box_pose.pose.orientation.x#q[0] |
| 2635 | + initial_pose.pose.orientation.y = 0.695#self.box_pose.pose.orientation.y#q[1] |
| 2636 | + initial_pose.pose.orientation.z = 0.52#self.box_pose.pose.orientation.z#q[2] |
| 2637 | + initial_pose.pose.orientation.w = 0.284#self.box_pose.pose.orientation.w#q[3] |
| 2638 | + |
| 2639 | + executed_grasp=Grasp() |
| 2640 | + executed_grasp.grasp_pose=copy.deepcopy(initial_pose.pose) |
| 2641 | + |
| 2642 | + #fake obj world origin pose |
| 2643 | + initial_pose.pose.position.x = 0.43 |
| 2644 | + initial_pose.pose.position.y = 0.149 |
| 2645 | + initial_pose.pose.position.z = 1.088 |
| 2646 | + initial_pose.pose.orientation.x = 0.0#self.box_pose.pose.orientation.x#q[0] |
| 2647 | + initial_pose.pose.orientation.y = 0.0#self.box_pose.pose.orientation.y#q[1] |
| 2648 | + initial_pose.pose.orientation.z = 0.567#self.box_pose.pose.orientation.z#q[2] |
| 2649 | + initial_pose.pose.orientation.w = 0.824#self.box_pose.pose.orientation.w#q[3] |
| 2650 | + |
| 2651 | + #fake graspable object |
| 2652 | + graspable_object = GraspableObject() |
| 2653 | + graspable_object.reference_frame_id = "/world" |
| 2654 | + mypotentialmodels = DatabaseModelPose() |
| 2655 | + mypotentialmodels.model_id = 18744 |
| 2656 | + mypotentialmodels.confidence = 1.0 |
| 2657 | + mypotentialmodels.pose = copy.deepcopy(initial_pose) |
| 2658 | + graspable_object.potential_models.append(mypotentialmodels) |
| 2659 | + |
| 2660 | + #fake obj world destination pose |
| 2661 | + initial_pose.pose.position.x = 0.43 |
| 2662 | + initial_pose.pose.position.y = 0.0 |
| 2663 | + initial_pose.pose.position.z = 1.088 |
| 2664 | + initial_pose.pose.orientation.x = 0.0#self.box_pose.pose.orientation.x#q[0] |
| 2665 | + initial_pose.pose.orientation.y = 0.0#self.box_pose.pose.orientation.y#q[1] |
| 2666 | + initial_pose.pose.orientation.z = 0.567#self.box_pose.pose.orientation.z#q[2] |
| 2667 | + initial_pose.pose.orientation.w = 0.824#self.box_pose.pose.orientation.w#q[3] |
| 2668 | + |
| 2669 | + list_of_poses = self.compute_list_of_poses(initial_pose, graspable_object, executed_grasp) |
| 2670 | + #print "list of pose",list_of_poses |
| 2671 | + |
| 2672 | + #self.place_object(self.object.graspable_object, self.object.graspable_object_name, self.object_name, self.list_of_poses) |
| 2673 | |
| 2674 | def pickup(self, graspable_object, graspable_object_name, object_name): |
| 2675 | """ |
| 2676 | @@ -158,11 +211,12 @@ |
| 2677 | pickup_goal.collision_object_name = graspable_object_name |
| 2678 | pickup_goal.collision_support_surface_name = self.gui.collision_support_surface_name |
| 2679 | |
| 2680 | + #pickup_goal.additional_link_padding |
| 2681 | pickup_goal.ignore_collisions = True |
| 2682 | |
| 2683 | pickup_goal.arm_name = "right_arm" |
| 2684 | - #pickup_goal.desired_approach_distance = 0.05 |
| 2685 | - #pickup_goal.min_approach_distance = 0.02 |
| 2686 | + #pickup_goal.desired_approach_distance = 0.08 This does not exist anymore in the message |
| 2687 | + #pickup_goal.min_approach_distance = 0.02 This does not exist anymore in the message |
| 2688 | |
| 2689 | direction = Vector3Stamped() |
| 2690 | direction.header.stamp = rospy.get_rostime() |
| 2691 | @@ -178,17 +232,20 @@ |
| 2692 | pickup_goal.use_reactive_lift = True; |
| 2693 | pickup_goal.use_reactive_execution = True; |
| 2694 | |
| 2695 | - pickup_client = actionlib.SimpleActionClient('/object_manipulator/object_manipulator_pickup', PickupAction) |
| 2696 | - pickup_client.wait_for_server() |
| 2697 | - rospy.loginfo("Pickup server ready") |
| 2698 | + self.pickup_result = self.pickupservice.pick(pickup_goal) |
| 2699 | + |
| 2700 | + #pickup_client = actionlib.SimpleActionClient('/object_manipulator/object_manipulator_pickup', PickupAction) |
| 2701 | + #pickup_client.wait_for_server() |
| 2702 | + #rospy.loginfo("Pickup server ready") |
| 2703 | |
| 2704 | - pickup_client.send_goal(pickup_goal) |
| 2705 | + #pickup_client.send_goal(pickup_goal) |
| 2706 | #TODO: change this when using the robot |
| 2707 | - pickup_client.wait_for_result(timeout=rospy.Duration.from_sec(3600.0)) |
| 2708 | + #pickup_client.wait_for_result(timeout=rospy.Duration.from_sec(3600.0)) |
| 2709 | loginfo("Got Pickup results") |
| 2710 | - self.pickup_result = pickup_client.get_result() |
| 2711 | + #self.pickup_result = pickup_client.get_result() |
| 2712 | |
| 2713 | #print "Pickup result: "+str(self.pickup_result) |
| 2714 | + ''' |
| 2715 | if pickup_client.get_state() != GoalStatus.SUCCEEDED: |
| 2716 | rospy.logerr("The pickup action has failed: " + str(self.pickup_result.manipulation_result.value) ) |
| 2717 | QMessageBox.warning(self, "Warning", |
| 2718 | @@ -197,6 +254,15 @@ |
| 2719 | if tested_grasp_result.result_code==7: |
| 2720 | self.grasp_display_publisher.publish(tested_grasp) |
| 2721 | return -1 |
| 2722 | + ''' |
| 2723 | + |
| 2724 | + if self.pickup_result.manipulation_result.value == ManipulationResult.SUCCESS: |
| 2725 | + loginfo("Pick succeeded, now lifting") |
| 2726 | + self.pickupservice.lift(0.07) |
| 2727 | + |
| 2728 | + else: |
| 2729 | + loginfo("Pick failed") |
| 2730 | + return 1 |
| 2731 | return 0 |
| 2732 | |
| 2733 | def place_object(self, graspable_object, graspable_object_name, object_name, list_of_poses ): |
| 2734 | @@ -233,20 +299,22 @@ |
| 2735 | #which is along the z axis in the fixed frame |
| 2736 | direction = Vector3Stamped() |
| 2737 | direction.header.stamp = rospy.get_rostime() |
| 2738 | - direction.header.frame_id = "/base_link" |
| 2739 | + direction.header.frame_id = "/world" |
| 2740 | direction.vector.x = 0 |
| 2741 | direction.vector.y = 0 |
| 2742 | direction.vector.z = 1 |
| 2743 | place_goal.approach.direction = direction |
| 2744 | - place_goal.approach.min_distance = 0.02 |
| 2745 | - place_goal.approach.desired_distance = 0.1 |
| 2746 | + place_goal.approach.min_distance = 0.01 |
| 2747 | + place_goal.approach.desired_distance = 0.03 |
| 2748 | #request a vertical put down motion of 10cm before placing the object |
| 2749 | place_goal.desired_retreat_distance = 0.1 |
| 2750 | place_goal.min_retreat_distance = 0.05 |
| 2751 | #we are not using tactile based placing |
| 2752 | place_goal.use_reactive_place = False |
| 2753 | |
| 2754 | - place_client = actionlib.SimpleActionClient('/object_manipulator/object_manipulator_place', PlaceAction) |
| 2755 | + |
| 2756 | + placeresult = self.pickupservice.place(place_goal) |
| 2757 | + '''place_client = actionlib.SimpleActionClient('/object_manipulator/object_manipulator_place', PlaceAction) |
| 2758 | place_client.wait_for_server() |
| 2759 | rospy.loginfo("Place server ready") |
| 2760 | |
| 2761 | @@ -261,38 +329,83 @@ |
| 2762 | if place_client.get_state() != GoalStatus.SUCCEEDED: |
| 2763 | rospy.logerr("The place action has failed: " + str(place_result.manipulation_result.value) ) |
| 2764 | print place_result |
| 2765 | + ''' |
| 2766 | + |
| 2767 | + if placeresult.manipulation_result.value == ManipulationResult.SUCCESS: |
| 2768 | + loginfo("Place succeeded, now retreating") |
| 2769 | + self.pickupservice.retreat(0.07) |
| 2770 | + else: |
| 2771 | + loginfo("Place failed") |
| 2772 | + return 1 |
| 2773 | + return 0 |
| 2774 | + |
| 2775 | |
| 2776 | - def compute_list_of_poses(self, initial_pose, graspable_object, rect_w=0.10, rect_h=0.10, resolution=0.02): |
| 2777 | - ''' |
| 2778 | - Computes a list of possible poses in a rectangle of 2*rect_w by 2*rect_h, with the given resolution. |
| 2779 | - In our case, rect_w is along the x axis, and rect_h along the y_axis. |
| 2780 | - ''' |
| 2781 | + def compute_list_of_poses(self, destination_pose, graspable_object, executed_grasp): |
| 2782 | + |
| 2783 | list_of_poses = [] |
| 2784 | - |
| 2785 | - current_pose = PoseStamped() |
| 2786 | - current_pose.header.stamp = rospy.get_rostime() |
| 2787 | - current_pose.header.frame_id = initial_pose.header.frame_id #"/fixed" |
| 2788 | - current_pose.pose.position.x = initial_pose.pose.position.x |
| 2789 | - current_pose.pose.position.y = initial_pose.pose.position.y |
| 2790 | - current_pose.pose.position.z = initial_pose.pose.position.z |
| 2791 | - current_pose.pose.orientation.x = initial_pose.pose.orientation.x |
| 2792 | - current_pose.pose.orientation.y = initial_pose.pose.orientation.y |
| 2793 | - current_pose.pose.orientation.z = initial_pose.pose.orientation.z |
| 2794 | - current_pose.pose.orientation.w = initial_pose.pose.orientation.w |
| 2795 | - rospy.loginfo( " placing object at: "+str(current_pose) ) |
| 2796 | - |
| 2797 | - list_of_poses.append(current_pose) |
| 2798 | + |
| 2799 | + # find hand to object transform |
| 2800 | + # executed_grasp is hand pose in world frame |
| 2801 | + # graspable_object is object in world frame |
| 2802 | + hand_world_pose = executed_grasp.grasp_pose |
| 2803 | + #print "hand_world", hand_world_pose |
| 2804 | + object_world_pose = graspable_object.potential_models[0].pose.pose |
| 2805 | + # print "object world" , object_world_pose |
| 2806 | + tmathandworld = pose_to_mat(hand_world_pose) |
| 2807 | + tmatobjworld = pose_to_mat(object_world_pose) |
| 2808 | + hand_object_pose = mat_to_pose(np.dot(np.linalg.inv(tmatobjworld),tmathandworld)) |
| 2809 | + #print "hand_object_pose" , hand_object_pose |
| 2810 | + |
| 2811 | + # generate rotational_symmetric hand to object frames |
| 2812 | + hand_object_poses = self.generate_rotational_symmetric_poses(hand_object_pose,16) |
| 2813 | + |
| 2814 | + target_pose = PoseStamped() |
| 2815 | + target_pose=copy.deepcopy(destination_pose) |
| 2816 | + target_pose.header.stamp = rospy.get_rostime() |
| 2817 | + #print "target_object_world pose" , target_pose |
| 2818 | + tmattarget_world = pose_to_mat(target_pose.pose) |
| 2819 | + |
| 2820 | + for hand_object_pose in hand_object_poses: |
| 2821 | + tmathandobj = pose_to_mat(hand_object_pose) |
| 2822 | + target_hand_posestamped_world = PoseStamped() |
| 2823 | + target_hand_posestamped_world.header.frame_id = "/world" |
| 2824 | + target_hand_posestamped_world.pose= mat_to_pose(np.dot(tmattarget_world,tmathandobj)) |
| 2825 | + target_hand_posestamped_world.header.stamp = rospy.get_rostime() |
| 2826 | + list_of_poses.append(target_hand_posestamped_world) |
| 2827 | |
| 2828 | self.draw_place_area(list_of_poses, graspable_object) |
| 2829 | |
| 2830 | return list_of_poses |
| 2831 | + |
| 2832 | + def generate_rotational_symmetric_poses(self, hand_object_pose,step=8): |
| 2833 | + ''' |
| 2834 | + Generate a list of 20 pregrasps around the z axis of the object |
| 2835 | + ''' |
| 2836 | + generated_poses = [] |
| 2837 | + pose=hand_object_pose |
| 2838 | + #We'll generate 20 poses centered in 0,0,0 with orientations in 360 degrees around z |
| 2839 | + |
| 2840 | + for i in range(0,step): |
| 2841 | + angle = (6.28318532 * i)/step |
| 2842 | + q = tf.transformations.quaternion_from_euler(0.0,0.0,angle) |
| 2843 | + rotation_pose = Pose(Point(0,0,0), Quaternion(0.0,0.0,0.0,1.0)) |
| 2844 | + rotation_pose.orientation = Quaternion(*q) |
| 2845 | + |
| 2846 | + tmatrotz = pose_to_mat(rotation_pose) |
| 2847 | + # premultiply by the rotation matrix |
| 2848 | + tmatpose = pose_to_mat(pose) |
| 2849 | + rotated_pose = mat_to_pose(np.dot(tmatrotz,tmatpose)) |
| 2850 | + |
| 2851 | + generated_poses.append(rotated_pose) |
| 2852 | + |
| 2853 | + return generated_poses |
| 2854 | |
| 2855 | def draw_place_area(self, list_of_poses, graspable_object): |
| 2856 | ''' |
| 2857 | Displays all the possible placing locations that are going to be tried. |
| 2858 | ''' |
| 2859 | #try: |
| 2860 | - (trans_palm,rot_palm) = self.listener.lookupTransform('/fixed', '/palm', rospy.Time(0)) |
| 2861 | + (trans_palm,rot_palm) = self.listener.lookupTransform('/world', '/palm', rospy.Time(0)) |
| 2862 | #except: |
| 2863 | # return |
| 2864 | |
| 2865 | @@ -308,7 +421,7 @@ |
| 2866 | pose_tmp.orientation.w = pose_stamped.pose.orientation.w |
| 2867 | |
| 2868 | mat = pose_to_mat(pose_tmp) |
| 2869 | - self.draw_functions.draw_rviz_box(mat, [.01,.01,.01], frame='/object_frame', ns='place_'+str(index), |
| 2870 | + self.draw_functions.draw_rviz_box(mat, [.01,.01,.01], frame='/world', ns='place_'+str(index), |
| 2871 | id=1000+index, duration = 90, color=[0.5,0.5,0.0], opaque=1.0 ) |
| 2872 | |
| 2873 | def call_find_cluster_bounding_box(self, cluster): |
| 2874 | @@ -413,8 +526,8 @@ |
| 2875 | self.win.btn_collision_map.pressed.connect(self.process_collision_map) |
| 2876 | self.win.btn_collision_map.setEnabled(False) |
| 2877 | self.win.btn_start_grab_position.pressed.connect(self.start_grab_position) |
| 2878 | - self.win.btn_zero_position.pressed.connect(self.zero_position) |
| 2879 | -# self.win.btn_zero_position.pressed.connect(self.redo_place) |
| 2880 | +# self.win.btn_zero_position.pressed.connect(self.zero_position) |
| 2881 | + self.win.btn_zero_position.pressed.connect(self.redo_place) |
| 2882 | self.robot_lib_eth = EtherCAT_Hand_Lib() |
| 2883 | |
| 2884 | # Guillaume: Currently removed because requires ethercat to be active to run, ethercat does exist in sim |
| 2885 | @@ -486,7 +599,7 @@ |
| 2886 | except rospy.ServiceException, e: |
| 2887 | print "Service did not process request: %s" % str(e) |
| 2888 | |
| 2889 | - print self.raw_objects |
| 2890 | + #print self.raw_objects |
| 2891 | # Take a new collision map + add the detected objects to the collision |
| 2892 | # map and get graspable objects from them |
| 2893 | tabletop_collision_map_res = self.process_collision_map() |
| 2894 | @@ -516,7 +629,7 @@ |
| 2895 | res = 0 |
| 2896 | try: |
| 2897 | #Args: detection_result reset_collision_models reset_attached_models desired_frame |
| 2898 | - res = self.service_tabletop_collision_map.call(self.raw_objects.detection, True, True, "/fixed") |
| 2899 | + res = self.service_tabletop_collision_map.call(self.raw_objects.detection, True, True, "/world") |
| 2900 | except rospy.ServiceException, e: |
| 2901 | logerr("Service did not process request: %s" % str(e)) |
| 2902 | |
| 2903 | @@ -652,6 +765,7 @@ |
| 2904 | |
| 2905 | def start_grab_position(self): |
| 2906 | """Move the arm into a good starting position for the grab""" |
| 2907 | - self.position_arm('start_grab') |
| 2908 | + #self.position_arm('start_grab') |
| 2909 | + |
| 2910 | |
| 2911 | |
| 2912 | |
| 2913 | === modified file 'sr_gui_manipulation/manifest.xml' |
| 2914 | --- sr_gui_manipulation/manifest.xml 2012-09-03 13:10:43 +0000 |
| 2915 | +++ sr_gui_manipulation/manifest.xml 2012-10-31 08:29:25 +0000 |
| 2916 | @@ -21,6 +21,7 @@ |
| 2917 | <depend package="sr_hand"/> |
| 2918 | <depend package="actionlib"/> |
| 2919 | <depend package="control_msgs"/> |
| 2920 | + <depend package="sr_pick_and_place"/> |
| 2921 | |
| 2922 | <export> |
| 2923 | <rosgui plugin="${prefix}/sr_gui_manipulation.xml"/> |
| 2924 | |
| 2925 | === modified file 'sr_object_manipulation_launch/config/gazebo_tactile_thresholds.yaml' |
| 2926 | --- sr_object_manipulation_launch/config/gazebo_tactile_thresholds.yaml 2012-07-27 20:16:07 +0000 |
| 2927 | +++ sr_object_manipulation_launch/config/gazebo_tactile_thresholds.yaml 2012-10-31 08:29:25 +0000 |
| 2928 | @@ -6,14 +6,14 @@ |
| 2929 | # fingers will close around the object to lift it. |
| 2930 | |
| 2931 | light_touch_thresholds: |
| 2932 | - - 1.0 |
| 2933 | - - 0.0 |
| 2934 | - - 0.0 |
| 2935 | - - 0.0 |
| 2936 | - - 1.0 |
| 2937 | + - 0.0 #0.05 |
| 2938 | + - 0.0 |
| 2939 | + - 0.0 |
| 2940 | + - 0.0 |
| 2941 | + - 0.0 #0.05 |
| 2942 | grasp_touch_thresholds: |
| 2943 | - - 1.2 |
| 2944 | - - 0.0 |
| 2945 | - - 0.0 |
| 2946 | - - 0.0 |
| 2947 | - - 1.2 |
| 2948 | + - 0.0 #0.1 |
| 2949 | + - 0.0 |
| 2950 | + - 0.0 |
| 2951 | + - 0.0 |
| 2952 | + - 0.0 #0.1 |
| 2953 | |
| 2954 | === modified file 'sr_object_manipulation_launch/config/hand_description.yaml' |
| 2955 | --- sr_object_manipulation_launch/config/hand_description.yaml 2012-04-09 13:10:43 +0000 |
| 2956 | +++ sr_object_manipulation_launch/config/hand_description.yaml 2012-10-31 08:29:25 +0000 |
| 2957 | @@ -9,7 +9,7 @@ |
| 2958 | hand_database_name: SHADOW_HAND |
| 2959 | hand_joints: [FFJ4,FFJ3,FFJ0,MFJ4,MFJ3,MFJ0,RFJ4,RFJ3,RFJ0,LFJ5,LFJ4,LFJ3,LFJ0,THJ5,THJ4,THJ3,THJ2,THJ1] |
| 2960 | arm_joints: [ShoulderJRotate,ShoulderJSwing,ElbowJSwing,ElbowJRotate,WRJ2,WRJ1] |
| 2961 | - hand_touch_links: [ffdistal,mfdistal,rfdistal,lfdistal,thdistal,ffmiddle,mfmiddle,rfmiddle,lfmiddle,thmiddle,ffproximal,mfproximal,rfproximal,lfproximal,thproximal,palm] |
| 2962 | + hand_touch_links: [ffdistal,mfdistal,rfdistal,lfdistal,thdistal,ffmiddle,mfmiddle,rfmiddle,lfmiddle,thmiddle,ffproximal,mfproximal,rfproximal,lfproximal,lfmetacarpal,thbase,thproximal,palm] |
| 2963 | |
| 2964 | hand_fingertip_links: [ffdistal,mfdistal,rfdistal,lfdistal,thdistal] |
| 2965 | hand_approach_direction: [0.0,-1.0,0.0] |
| 2966 | |
| 2967 | === modified file 'sr_object_manipulation_launch/config/household_object_server.yaml' |
| 2968 | --- sr_object_manipulation_launch/config/household_object_server.yaml 2012-08-28 09:56:27 +0000 |
| 2969 | +++ sr_object_manipulation_launch/config/household_object_server.yaml 2012-10-31 08:29:25 +0000 |
| 2970 | @@ -1,6 +1,6 @@ |
| 2971 | household_objects_database: |
| 2972 | - database_host: ugocupcic.dyndns.org |
| 2973 | + database_host: bachelet |
| 2974 | database_port: 5432 |
| 2975 | database_user: willow |
| 2976 | database_pass: willow |
| 2977 | - database_name: household_objects_database |
| 2978 | + database_name: household_objects_electric |
| 2979 | |
| 2980 | === modified file 'sr_object_manipulation_launch/config/self_filter.yaml' |
| 2981 | --- sr_object_manipulation_launch/config/self_filter.yaml 2012-07-25 20:54:34 +0000 |
| 2982 | +++ sr_object_manipulation_launch/config/self_filter.yaml 2012-10-31 08:29:25 +0000 |
| 2983 | @@ -42,7 +42,7 @@ |
| 2984 | padding: .04 |
| 2985 | - name: shadowarm_base |
| 2986 | padding: .04 |
| 2987 | - - name: shadow_handsupport |
| 2988 | + - name: shadowarm_handsupport |
| 2989 | padding: .04 |
| 2990 | - name: shadowarm_lowerarm |
| 2991 | padding: .04 |
| 2992 | |
| 2993 | === modified file 'sr_object_manipulation_launch/launch/arm_and_hand_motor.launch' |
| 2994 | --- sr_object_manipulation_launch/launch/arm_and_hand_motor.launch 2012-08-28 09:56:27 +0000 |
| 2995 | +++ sr_object_manipulation_launch/launch/arm_and_hand_motor.launch 2012-10-31 08:29:25 +0000 |
| 2996 | @@ -54,7 +54,7 @@ |
| 2997 | <node pkg="sr_tactile_sensors" name="sr_tactile" type="sr_tactile_virtual_gazebo" respawn="false"> |
| 2998 | <rosparam file="$(find sr_tactile_sensors)/params/sensor_names.yaml" command="load"/> |
| 2999 | </node> |
| 3000 | - <node pkg="tf" type="static_transform_publisher" name="fixed_frame_pub_arm" args="0 0 0 0 0 0 fixed /desk_support 100" /> |
| 3001 | +<!-- <node pkg="tf" type="static_transform_publisher" name="fixed_frame_pub_arm" args="0 0 0 0 0 0 fixed /base_link 100" /> --> |
| 3002 | </group> |
| 3003 | </launch> |
| 3004 | |
| 3005 | |
| 3006 | === modified file 'sr_object_manipulation_launch/launch/collision_map.launch' |
| 3007 | --- sr_object_manipulation_launch/launch/collision_map.launch 2012-08-22 16:26:42 +0000 |
| 3008 | +++ sr_object_manipulation_launch/launch/collision_map.launch 2012-10-31 08:29:25 +0000 |
| 3009 | @@ -36,7 +36,7 @@ |
| 3010 | <!-- we do not want a separate map with occlusions alone --> |
| 3011 | <param name="publish_occlusion" type="bool" value="true" /> |
| 3012 | |
| 3013 | - <param name="fixed_frame" type="string" value="/fixed" /> |
| 3014 | + <param name="fixed_frame" type="string" value="/world" /> |
| 3015 | |
| 3016 | <!-- define a box of size 0.5x0.5x0.5 around (0, 0, 0) in the robot frame |
| 3017 | --> |
| 3018 | |
| 3019 | === modified file 'sr_object_manipulation_launch/launch/kinect_static_transform.launch' |
| 3020 | --- sr_object_manipulation_launch/launch/kinect_static_transform.launch 2012-05-04 21:38:54 +0000 |
| 3021 | +++ sr_object_manipulation_launch/launch/kinect_static_transform.launch 2012-10-31 08:29:25 +0000 |
| 3022 | @@ -3,8 +3,10 @@ |
| 3023 | <!-- This transform should be computed by the calibration software --> |
| 3024 | <!-- <node pkg="tf" type="static_transform_publisher" name="trunk_to_kinect" |
| 3025 | args="0.027 0.205 0.422248 -0.594811 0.36128 0.203393 0.688727 /shadowarm_trunk /camera_link 100" machine="threedsensor"/> --> |
| 3026 | - <node pkg="tf" type="static_transform_publisher" name="trunk_to_kinect" |
| 3027 | - args="0.0094 0.200 0.385 -0.235 0.81 -1.57533 /shadowarm_trunk /camera_link 100" machine="threedsensor"/> |
| 3028 | +<!-- before arm change <node pkg="tf" type="static_transform_publisher" name="trunk_to_kinect" |
| 3029 | + args="0.0094 0.200 0.385 -0.235 0.81 -1.57533 /shadowarm_trunk /camera_link 100" machine="threedsensor"/> --> |
| 3030 | +<node pkg="tf" type="static_transform_publisher" name="trunk_to_kinect" |
| 3031 | + args="0.00930639 0.16721 0.366541 -0.598431 0.354668 0.177556 0.696107 /shadowarm_trunk /camera_link 100" machine="threedsensor"/> |
| 3032 | |
| 3033 | <!-- new panned 45 deg <node pkg="tf" type="static_transform_publisher" name="trunk_to_kinect" |
| 3034 | args="-0.11404 0.140594 0.387348 -0.686704 0.0976917 0.450266 0.562276 /shadowarm_trunk /camera_link 100" machine="threedsensor"/> --> |
| 3035 | |
| 3036 | === modified file 'sr_object_manipulation_launch/launch/manipulator.launch' |
| 3037 | --- sr_object_manipulation_launch/launch/manipulator.launch 2012-05-01 16:46:59 +0000 |
| 3038 | +++ sr_object_manipulation_launch/launch/manipulator.launch 2012-10-31 08:29:25 +0000 |
| 3039 | @@ -15,7 +15,7 @@ |
| 3040 | |
| 3041 | <node name="sr_grasp_planner" pkg="sr_grasp_planner" type="sr_grasp_planner" respawn="false"/> |
| 3042 | |
| 3043 | - <node name="object_manipulator" pkg="object_manipulator" type="object_manipulator_node" |
| 3044 | +<!-- <node name="object_manipulator" pkg="object_manipulator" type="object_manipulator_node" |
| 3045 | respawn="false" |
| 3046 | output="screen"> |
| 3047 | <remap from="right_arm/constraint_aware_ik" to="/shadow_right_arm_kinematics/get_constraint_aware_ik" /> |
| 3048 | @@ -23,9 +23,9 @@ |
| 3049 | <remap from="right_arm/interpolated_ik_set_params" to="/r_interpolated_ik_motion_plan_set_params"/> |
| 3050 | <remap from="right_arm/get_fk" to="/shadow_right_arm_kinematics/get_fk" /> |
| 3051 | <remap from="right_arm/get_ik_solver_info" to="/shadow_right_arm_kinematics/get_ik_solver_info"/> |
| 3052 | - |
| 3053 | +--> |
| 3054 | <!--<remap from="right_arm_joint_controller" to="/shadow_right_arm_kinematics/get_ik_solver_info"/> --> |
| 3055 | - <param name="right_arm_joint_controller" value="r_arm_joint_trajectory_controller" /> |
| 3056 | +<!-- <param name="right_arm_joint_controller" value="r_arm_joint_trajectory_controller" /> |
| 3057 | |
| 3058 | <param name="right_arm_cartesian_controller" value="r_arm_cartesian_pose_controller" /> |
| 3059 | |
| 3060 | @@ -44,5 +44,5 @@ |
| 3061 | <remap from="/list_controllers" to="/sr_controller_manager/list_controllers"/> |
| 3062 | <remap from="/switch_controller" to="/sr_controller_manager/switch_controller"/> |
| 3063 | </node> |
| 3064 | - |
| 3065 | +--> |
| 3066 | </launch> |
| 3067 | |
| 3068 | === modified file 'sr_object_manipulation_launch/launch/static_transform.launch' |
| 3069 | --- sr_object_manipulation_launch/launch/static_transform.launch 2012-08-22 16:26:42 +0000 |
| 3070 | +++ sr_object_manipulation_launch/launch/static_transform.launch 2012-10-31 08:29:25 +0000 |
| 3071 | @@ -1,9 +1,7 @@ |
| 3072 | <launch> |
| 3073 | - <node pkg="tf" type="static_transform_publisher" name="world_to_desk_support" |
| 3074 | - args="0.0 0.0 0.0 0.0 0.0 0.0 /world /desk_support 100"/> |
| 3075 | <node pkg="tf" type="static_transform_publisher" name="world_to_base_link" |
| 3076 | args="0.0 0.0 0.0 0.0 0.0 0.0 /world /base_link 100"/> |
| 3077 | |
| 3078 | - <node pkg="tf" type="static_transform_publisher" name="world_to_fixed" |
| 3079 | - args="0.0 0.0 0.0 0.0 0.0 0.0 /world /fixed 100"/> |
| 3080 | +<!-- <node pkg="tf" type="static_transform_publisher" name="world_to_fixed" |
| 3081 | + args="0.0 0.0 0.0 0.0 0.0 0.0 /world /fixed 100"/> --> |
| 3082 | </launch> |
| 3083 | |
| 3084 | === modified file 'sr_object_manipulation_launch/launch/tabletop_node.launch' |
| 3085 | --- sr_object_manipulation_launch/launch/tabletop_node.launch 2012-04-17 19:22:56 +0000 |
| 3086 | +++ sr_object_manipulation_launch/launch/tabletop_node.launch 2012-10-31 08:29:25 +0000 |
| 3087 | @@ -43,7 +43,7 @@ |
| 3088 | <!--database parameters--> |
| 3089 | <!--NOTE: this launch file does not start the database wrapper node--> |
| 3090 | <!--that must be done externally--> |
| 3091 | - <param name="model_set" value="REDUCED_MODEL_SET" /> |
| 3092 | + <param name="model_set" value="COKECAN_SET" /> |
| 3093 | <param name="get_model_list_srv" value="/objects_database_node/get_model_list" /> |
| 3094 | <param name="get_model_mesh_srv" value="/objects_database_node/get_model_mesh" /> |
| 3095 | </node> |
| 3096 | |
| 3097 | === added directory 'sr_pick_and_place' |
| 3098 | === added file 'sr_pick_and_place/CMakeLists.txt' |
| 3099 | --- sr_pick_and_place/CMakeLists.txt 1970-01-01 00:00:00 +0000 |
| 3100 | +++ sr_pick_and_place/CMakeLists.txt 2012-10-31 08:29:25 +0000 |
| 3101 | @@ -0,0 +1,30 @@ |
| 3102 | +cmake_minimum_required(VERSION 2.4.6) |
| 3103 | +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
| 3104 | + |
| 3105 | +# Set the build type. Options are: |
| 3106 | +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage |
| 3107 | +# Debug : w/ debug symbols, w/o optimization |
| 3108 | +# Release : w/o debug symbols, w/ optimization |
| 3109 | +# RelWithDebInfo : w/ debug symbols, w/ optimization |
| 3110 | +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries |
| 3111 | +#set(ROS_BUILD_TYPE RelWithDebInfo) |
| 3112 | + |
| 3113 | +rosbuild_init() |
| 3114 | + |
| 3115 | +#set the default path for built executables to the "bin" directory |
| 3116 | +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) |
| 3117 | +#set the default path for built libraries to the "lib" directory |
| 3118 | +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
| 3119 | + |
| 3120 | +#uncomment if you have defined messages |
| 3121 | +#rosbuild_genmsg() |
| 3122 | +#uncomment if you have defined services |
| 3123 | +#rosbuild_gensrv() |
| 3124 | + |
| 3125 | +#common commands for building c++ executables and libraries |
| 3126 | +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
| 3127 | +#target_link_libraries(${PROJECT_NAME} another_library) |
| 3128 | +#rosbuild_add_boost_directories() |
| 3129 | +#rosbuild_link_boost(${PROJECT_NAME} thread) |
| 3130 | +#rosbuild_add_executable(example examples/example.cpp) |
| 3131 | +#target_link_libraries(example ${PROJECT_NAME}) |
| 3132 | |
| 3133 | === added file 'sr_pick_and_place/Makefile' |
| 3134 | --- sr_pick_and_place/Makefile 1970-01-01 00:00:00 +0000 |
| 3135 | +++ sr_pick_and_place/Makefile 2012-10-31 08:29:25 +0000 |
| 3136 | @@ -0,0 +1,1 @@ |
| 3137 | +include $(shell rospack find mk)/cmake.mk |
| 3138 | \ No newline at end of file |
| 3139 | |
| 3140 | === added file 'sr_pick_and_place/mainpage.dox' |
| 3141 | --- sr_pick_and_place/mainpage.dox 1970-01-01 00:00:00 +0000 |
| 3142 | +++ sr_pick_and_place/mainpage.dox 2012-10-31 08:29:25 +0000 |
| 3143 | @@ -0,0 +1,14 @@ |
| 3144 | +/** |
| 3145 | +\mainpage |
| 3146 | +\htmlinclude manifest.html |
| 3147 | + |
| 3148 | +\b sr_pick_and_place |
| 3149 | + |
| 3150 | +<!-- |
| 3151 | +Provide an overview of your package. |
| 3152 | +--> |
| 3153 | + |
| 3154 | +--> |
| 3155 | + |
| 3156 | + |
| 3157 | +*/ |
| 3158 | |
| 3159 | === added file 'sr_pick_and_place/manifest.xml' |
| 3160 | --- sr_pick_and_place/manifest.xml 1970-01-01 00:00:00 +0000 |
| 3161 | +++ sr_pick_and_place/manifest.xml 2012-10-31 08:29:25 +0000 |
| 3162 | @@ -0,0 +1,21 @@ |
| 3163 | +<package> |
| 3164 | + <description brief="sr_pick_and_place"> |
| 3165 | + |
| 3166 | + sr_pick_and_place |
| 3167 | + |
| 3168 | + </description> |
| 3169 | + <author>Ugo Cupcic</author> |
| 3170 | + <license>BSD</license> |
| 3171 | + <review status="unreviewed" notes=""/> |
| 3172 | + <url>http://ros.org/wiki/sr_pick_and_place</url> |
| 3173 | + <depend package="rospy"/> |
| 3174 | + <depend package="actionlib"/> |
| 3175 | + <depend package="arm_navigation_msgs"/> |
| 3176 | + <depend package="geometry_msgs"/> |
| 3177 | + <depend package="kinematics_msgs"/> |
| 3178 | + <depend package="trajectory_msgs"/> |
| 3179 | + <depend package="sr_utilities"/> |
| 3180 | + |
| 3181 | +</package> |
| 3182 | + |
| 3183 | + |
| 3184 | |
| 3185 | === added directory 'sr_pick_and_place/src' |
| 3186 | === added file 'sr_pick_and_place/src/execution.py' |
| 3187 | --- sr_pick_and_place/src/execution.py 1970-01-01 00:00:00 +0000 |
| 3188 | +++ sr_pick_and_place/src/execution.py 2012-10-31 08:29:25 +0000 |
| 3189 | @@ -0,0 +1,601 @@ |
| 3190 | +#!/usr/bin/env python |
| 3191 | +# |
| 3192 | +# Copyright 2011 Shadow Robot Company Ltd. |
| 3193 | +# |
| 3194 | +# This program is free software: you can redistribute it and/or modify it |
| 3195 | +# under the terms of the GNU General Public License as published by the Free |
| 3196 | +# Software Foundation, either version 2 of the License, or (at your option) |
| 3197 | +# any later version. |
| 3198 | +# |
| 3199 | +# This program is distributed in the hope that it will be useful, but WITHOUT |
| 3200 | +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
| 3201 | +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for |
| 3202 | +# more details. |
| 3203 | +# |
| 3204 | +# You should have received a copy of the GNU General Public License along |
| 3205 | +# with this program. If not, see <http://www.gnu.org/licenses/>. |
| 3206 | +# |
| 3207 | + |
| 3208 | +import roslib; roslib.load_manifest("sr_pick_and_place") |
| 3209 | +import rospy |
| 3210 | + |
| 3211 | +from object_manipulation_msgs.msg import Grasp, PickupGoal, PickupResult, PickupAction, PlaceGoal, PlaceResult, PlaceAction, ManipulationResult |
| 3212 | +from object_manipulation_msgs.srv import GraspPlanning, GraspPlanningRequest, GraspPlanningResponse |
| 3213 | +from object_manipulation_msgs.msg import GraspHandPostureExecutionAction ,GraspHandPostureExecutionGoal |
| 3214 | +from arm_navigation_msgs.srv import GetMotionPlanRequest, GetMotionPlanResponse, FilterJointTrajectory, FilterJointTrajectoryRequest |
| 3215 | +from arm_navigation_msgs.msg import DisplayTrajectory, JointLimits, AttachedCollisionObject, CollisionObjectOperation, Shape |
| 3216 | +from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryGoal |
| 3217 | +from geometry_msgs.msg import PoseStamped, Point,Quaternion,Pose |
| 3218 | +from actionlib_msgs.msg import GoalID, GoalStatus, GoalStatusArray |
| 3219 | +from trajectory_msgs.msg import JointTrajectory |
| 3220 | +from sr_utilities.srv import getJointState |
| 3221 | +from planification import Planification |
| 3222 | +from sr_utilities.srv import getJointState |
| 3223 | +import actionlib |
| 3224 | + |
| 3225 | +from tf import transformations |
| 3226 | +import tf |
| 3227 | + |
| 3228 | +import time |
| 3229 | +import copy |
| 3230 | + |
| 3231 | +ARM_NAMES = ['ShoulderJRotate', 'ShoulderJSwing', 'ElbowJSwing', 'ElbowJRotate', "WRJ1", "WRJ2"] |
| 3232 | + |
| 3233 | +class Execution(object): |
| 3234 | + """ |
| 3235 | + """ |
| 3236 | + |
| 3237 | + def __init__(self, ): |
| 3238 | + """ |
| 3239 | + """ |
| 3240 | + |
| 3241 | + self.simdelay = 10.0 #3.0 #10.0 for simulation , 2 or less for real |
| 3242 | + #initialize the planner |
| 3243 | + self.plan = Planification() |
| 3244 | + |
| 3245 | + self.display_traj_pub_ = rospy.Publisher("/joint_path_display", DisplayTrajectory, latch=True) |
| 3246 | + self.send_traj_pub_ = rospy.Publisher("/command", JointTrajectory, latch=True) |
| 3247 | + self.att_object_in_map_pub_= rospy.Publisher("/attached_collision_object", AttachedCollisionObject,latch=True) |
| 3248 | + |
| 3249 | + |
| 3250 | + rospy.loginfo("Waiting for services /getJointState, /trajectory_filter_unnormalizer/filter_trajectory, /database_grasp_planning") |
| 3251 | + rospy.wait_for_service("/getJointState") |
| 3252 | + rospy.wait_for_service("/trajectory_filter_unnormalizer/filter_trajectory") |
| 3253 | + rospy.wait_for_service("/objects_database_node/database_grasp_planning") |
| 3254 | + rospy.loginfo(" OK services found") |
| 3255 | + |
| 3256 | + self.get_joint_state_ = rospy.ServiceProxy("/getJointState", getJointState) |
| 3257 | + # TODO use another getJointstateProvided by env Server |
| 3258 | + self.trajectory_filter_ = rospy.ServiceProxy("/trajectory_filter_unnormalizer/filter_trajectory", FilterJointTrajectory) |
| 3259 | + self.grasp_planning_service_ = rospy.ServiceProxy("/objects_database_node/database_grasp_planning", GraspPlanning) |
| 3260 | + # access hand_posture execution actionlib |
| 3261 | + self.hand_posture_execution_actionclient_ = actionlib.SimpleActionClient('/right_arm/hand_posture_execution', GraspHandPostureExecutionAction) |
| 3262 | + self.hand_posture_execution_actionclient_.wait_for_server() |
| 3263 | + rospy.loginfo("hand_posture_execution server ready") |
| 3264 | + |
| 3265 | + # access arm_movement actionlib |
| 3266 | + self.joint_spline_trajectory_actionclient_ = actionlib.SimpleActionClient('/r_arm_controller/joint_trajectory_action', FollowJointTrajectoryAction) |
| 3267 | + self.joint_spline_trajectory_actionclient_.wait_for_server() |
| 3268 | + rospy.loginfo("joint_spline_trajectory server ready") |
| 3269 | + |
| 3270 | + |
| 3271 | + |
| 3272 | + self.listener = tf.TransformListener() |
| 3273 | + |
| 3274 | + def pick(self,pickup_goal): |
| 3275 | + #prepare result |
| 3276 | + pickresult = PickupResult() |
| 3277 | + |
| 3278 | + #get grasps for the object |
| 3279 | + # fill up a grasp planning request |
| 3280 | + grasp_planning_req = GraspPlanningRequest() |
| 3281 | + grasp_planning_req.arm_name = pickup_goal.arm_name |
| 3282 | + grasp_planning_req.target = pickup_goal.target |
| 3283 | + object_to_attach = pickup_goal.collision_object_name |
| 3284 | + # call grasp planning service |
| 3285 | + grasp_planning_res = self.grasp_planning_service_.call(grasp_planning_req) |
| 3286 | + #print grasp_planning_res |
| 3287 | + # process grasp planning result |
| 3288 | + if (grasp_planning_res.error_code.value != grasp_planning_res.error_code.SUCCESS): |
| 3289 | + rospy.logerr("No grasp found for this object, we will generate some, but only when the node is ready for that !") |
| 3290 | + pickresult.manipulation_result.value = ManipulationResult.UNFEASIBLE |
| 3291 | + return pickresult |
| 3292 | + else: |
| 3293 | + rospy.loginfo("Got "+ str(len(grasp_planning_res.grasps)) +" grasps for this object") |
| 3294 | + |
| 3295 | + # for each grasp, generate rotational symmetric grasps around the object (this is already in the DB for the CokeCan but should be removed and done online) |
| 3296 | + |
| 3297 | + #for each grasp, check path from pre-grasp pose to grasp pose first and then check motion to pre-grasp pose |
| 3298 | + motion_plan_res=GetMotionPlanResponse() |
| 3299 | + grasp_to_execute_=Grasp() |
| 3300 | + for index, grasp in enumerate(grasp_planning_res.grasps): |
| 3301 | + # extract grasp_pose |
| 3302 | + grasp_pose_ = PoseStamped() |
| 3303 | + grasp_pose_.header.frame_id = "/world"; |
| 3304 | + grasp_pose_.pose = grasp.grasp_pose |
| 3305 | + |
| 3306 | + grasp_pose_.pose.position.y=grasp_pose_.pose.position.y-0.01 #-0.01 in sim, +0.03 in real #cheating here |
| 3307 | + |
| 3308 | + # copy the grasp_pose as a pre-grasp_pose |
| 3309 | + pre_grasp_pose_ = copy.deepcopy(grasp_pose_) |
| 3310 | + |
| 3311 | + # add desired_approach_distance along the approach vector. above the object to plan pre-grasp pose |
| 3312 | + |
| 3313 | + # currently add this to Z because approach vector needs to be computed somehow first (TODO) |
| 3314 | + pre_grasp_pose_.pose.position.z = pre_grasp_pose_.pose.position.z + 0.05 |
| 3315 | + |
| 3316 | + # for distance from 0 (grasp_pose) to desired_approach distance (pre_grasp_pose) test IK/Collision and save result |
| 3317 | + # decompose this in X steps depending on distance to do and max speed |
| 3318 | + interpolated_motion_plan_res = self.plan.get_interpolated_ik_motion_plan(pre_grasp_pose_, grasp_pose_, False) |
| 3319 | + |
| 3320 | + # check the result (depending on number of steps etc...) |
| 3321 | + if (interpolated_motion_plan_res.error_code.val == interpolated_motion_plan_res.error_code.SUCCESS): |
| 3322 | + number_of_interpolated_steps=0 |
| 3323 | + # check if one approach trajectory is feasible |
| 3324 | + for interpolation_index, traj_error_code in enumerate(interpolated_motion_plan_res.trajectory_error_codes): |
| 3325 | + if traj_error_code.val!=1: |
| 3326 | + rospy.logerr("One unfeasible approach-phase step found at "+str(interpolation_index)+ "with val " + str(traj_error_code.val)) |
| 3327 | + break |
| 3328 | + else: |
| 3329 | + number_of_interpolated_steps=interpolation_index |
| 3330 | + |
| 3331 | + # if trajectory is feasible then plan reach motion to pre-grasp pose |
| 3332 | + if number_of_interpolated_steps+1==len(interpolated_motion_plan_res.trajectory.joint_trajectory.points): |
| 3333 | + rospy.loginfo("Grasp number "+str(index)+" approach is possible, checking motion plan to pre-grasp") |
| 3334 | + #print interpolated_motion_plan_res |
| 3335 | + |
| 3336 | + # check and plan motion to this pre_grasp_pose |
| 3337 | + motion_plan_res = self.plan.plan_arm_motion( pickup_goal.arm_name, "jointspace", pre_grasp_pose_ ) |
| 3338 | + |
| 3339 | + #if this pre-grasp pose is successful do not test others |
| 3340 | + if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS): |
| 3341 | + rospy.loginfo("Grasp number "+str(index)+" is possible, executing it") |
| 3342 | + # copy the grasp to execute for the following steps |
| 3343 | + grasp_to_execute_ = copy.deepcopy(grasp) |
| 3344 | + break |
| 3345 | + else: |
| 3346 | + rospy.logerr("Grasp number "+str(index)+" approach is impossible") |
| 3347 | + #print interpolated_motion_plan_res |
| 3348 | + else: |
| 3349 | + rospy.logerr("Grasp number "+str(index)+" approach is impossible") |
| 3350 | + #print interpolated_motion_plan_res |
| 3351 | + # execution part |
| 3352 | + if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS): |
| 3353 | + #put hand in pre-grasp posture |
| 3354 | + if self.pre_grasp_exec(grasp_to_execute_)<0: |
| 3355 | + #QMessageBox.warning(self, "Warning", |
| 3356 | + # "Pre-grasp action failed: ") |
| 3357 | + pickresult.manipulation_result.value = ManipulationResult.FAILED |
| 3358 | + return pickresult |
| 3359 | + |
| 3360 | + #go there |
| 3361 | + # filter the trajectory |
| 3362 | + filtered_traj = self.filter_traj_(motion_plan_res) |
| 3363 | + |
| 3364 | + self.display_traj_( filtered_traj ) |
| 3365 | + |
| 3366 | + # reach pregrasp pose |
| 3367 | + if self.send_traj_( filtered_traj )<0: |
| 3368 | + #QMessageBox.warning(self, "Warning", |
| 3369 | + # "Reach trajectory execution failed: ") |
| 3370 | + pickresult.manipulation_result.value = ManipulationResult.FAILED |
| 3371 | + return pickresult |
| 3372 | + #time.sleep(20) # TODO use actionlib here |
| 3373 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3374 | + |
| 3375 | + # approach |
| 3376 | + if self.send_traj_( interpolated_motion_plan_res.trajectory.joint_trajectory )<0: |
| 3377 | + #QMessageBox.warning(self, "Warning", |
| 3378 | + # "Approach trajectory execution failed: ") |
| 3379 | + pickresult.manipulation_result.value = ManipulationResult.FAILED |
| 3380 | + return pickresult |
| 3381 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3382 | + |
| 3383 | + #grasp |
| 3384 | + if self.grasp_exec(grasp_to_execute_)<0: |
| 3385 | + #QMessageBox.warning(self, "Warning", |
| 3386 | + # "Grasp action failed: ") |
| 3387 | + pickresult.manipulation_result.value = ManipulationResult.FAILED |
| 3388 | + return pickresult |
| 3389 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3390 | + |
| 3391 | + #attach the collision object to the hand (should be cleaned-up) |
| 3392 | + rospy.loginfo("Now we attach the object") |
| 3393 | + |
| 3394 | + att_object = AttachedCollisionObject() |
| 3395 | + att_object.link_name = "palm" |
| 3396 | + att_object.object.id = object_to_attach |
| 3397 | + att_object.object.operation.operation = CollisionObjectOperation.ATTACH_AND_REMOVE_AS_OBJECT |
| 3398 | + att_object.object.header.frame_id = "palm" |
| 3399 | + att_object.object.header.stamp = rospy.Time.now() |
| 3400 | + object = Shape() |
| 3401 | + object.type = Shape.CYLINDER |
| 3402 | + object.dimensions.append(.03) |
| 3403 | + object.dimensions.append(0.1) |
| 3404 | + pose = Pose() |
| 3405 | + pose.position.x = 0.0 |
| 3406 | + pose.position.y = -0.06 |
| 3407 | + pose.position.z = 0.06 |
| 3408 | + pose.orientation.x = 0 |
| 3409 | + pose.orientation.y = 0 |
| 3410 | + pose.orientation.z = 0 |
| 3411 | + pose.orientation.w = 1 |
| 3412 | + att_object.object.shapes.append(object) |
| 3413 | + att_object.object.poses.append(pose); |
| 3414 | + att_object.touch_links= ["ffdistal","mfdistal","rfdistal","lfdistal","thdistal","ffmiddle","mfmiddle","rfmiddle","lfmiddle","thmiddle","ffproximal","mfproximal","rfproximal","lfproximal","thproximal","palm","lfmetacarpal","thbase"] |
| 3415 | + self.att_object_in_map_pub_.publish(att_object) |
| 3416 | + rospy.loginfo("Attach object published") |
| 3417 | + else: |
| 3418 | + rospy.logerr("None of the grasps tested is possible") |
| 3419 | + pickresult.manipulation_result.value = ManipulationResult.UNFEASIBLE |
| 3420 | + return pickresult |
| 3421 | + pickresult.manipulation_result.value = ManipulationResult.SUCCESS |
| 3422 | + pickresult.grasp= grasp_to_execute_ |
| 3423 | + return pickresult |
| 3424 | + |
| 3425 | + def lift(self, target_lift_distance): |
| 3426 | + #straight movement above object, just for compatibility |
| 3427 | + |
| 3428 | + #check if object is grasped |
| 3429 | + |
| 3430 | + # get current hand pose |
| 3431 | + self.listener.waitForTransform('/world', '/palm', rospy.Time(), rospy.Duration(1.0)) |
| 3432 | + try: |
| 3433 | + (trans,rot) = self.listener.lookupTransform('/world', '/palm', rospy.Time()) |
| 3434 | + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): |
| 3435 | + rospy.logerr("Cannot get current palm pose") |
| 3436 | + return |
| 3437 | + |
| 3438 | + current_pose_= PoseStamped() |
| 3439 | + current_pose_.header.frame_id = "/world" |
| 3440 | + current_pose_.pose.position = Point(trans[0],trans[1],trans[2]) |
| 3441 | + current_pose_.pose.orientation = Quaternion(rot[0],rot[1],rot[2],rot[3]) |
| 3442 | + |
| 3443 | + # prepare target pose |
| 3444 | + target_pose_=PoseStamped() |
| 3445 | + target_pose_.header.frame_id = "/world" |
| 3446 | + target_pose_.pose.position = Point(trans[0],trans[1],trans[2]+target_lift_distance) |
| 3447 | + target_pose_.pose.orientation = Quaternion(rot[0],rot[1],rot[2],rot[3]) #keep same orientation for the first test |
| 3448 | + |
| 3449 | + #compute straight trajectory in 6D or in 3D if it fails |
| 3450 | + # for distance from 0 (grasp_pose) to desired_height test IK/Collision and save result |
| 3451 | + # decompose this in X steps depending on distance to do and max speed |
| 3452 | + interpolated_motion_plan_res = self.plan.get_interpolated_ik_motion_plan(current_pose_, target_pose_, False) |
| 3453 | + |
| 3454 | + # check the result (depending on number of steps etc...) |
| 3455 | + if (interpolated_motion_plan_res.error_code.val == interpolated_motion_plan_res.error_code.SUCCESS): |
| 3456 | + number_of_interpolated_steps=0 |
| 3457 | + # check if one approach trajectory is feasible |
| 3458 | + for interpolation_index, traj_error_code in enumerate(interpolated_motion_plan_res.trajectory_error_codes): |
| 3459 | + if traj_error_code.val!=1: |
| 3460 | + rospy.logerr("One unfeasible lift step found at "+str(interpolation_index)+ "with val " + str(traj_error_code.val)) |
| 3461 | + break |
| 3462 | + else: |
| 3463 | + number_of_interpolated_steps=interpolation_index |
| 3464 | + |
| 3465 | + if number_of_interpolated_steps+1==len(interpolated_motion_plan_res.trajectory.joint_trajectory.points): |
| 3466 | + rospy.loginfo("lift is possible") |
| 3467 | + else: |
| 3468 | + rospy.logerr("lift is impossible") |
| 3469 | + print interpolated_motion_plan_res |
| 3470 | + return |
| 3471 | + else: |
| 3472 | + rospy.logerr("lift planning failed") |
| 3473 | + print interpolated_motion_plan_res |
| 3474 | + return |
| 3475 | + |
| 3476 | + self.send_traj_( interpolated_motion_plan_res.trajectory.joint_trajectory ) |
| 3477 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3478 | + return |
| 3479 | + |
| 3480 | + def place(self,place_goal): |
| 3481 | + |
| 3482 | + placeresult = PlaceResult() |
| 3483 | + target_pose_to_execute_ = PoseStamped() |
| 3484 | + #for location, check path from approach pose to release pose first and then check motion to approach pose |
| 3485 | + motion_plan_res=GetMotionPlanResponse() |
| 3486 | + object_to_attach = place_goal.collision_object_name |
| 3487 | + # get current hand pose |
| 3488 | + self.listener.waitForTransform('/world', '/palm', rospy.Time(), rospy.Duration(1.0)) |
| 3489 | + try: |
| 3490 | + (trans,rot) = self.listener.lookupTransform('/world', '/palm', rospy.Time()) |
| 3491 | + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): |
| 3492 | + rospy.logerr("Cannot get current palm pose") |
| 3493 | + placeresult.manipulation_result.value = ManipulationResult.ERROR |
| 3494 | + return placeresult |
| 3495 | + |
| 3496 | + current_pose_= PoseStamped() |
| 3497 | + current_pose_.header.frame_id = "/world" |
| 3498 | + current_pose_.pose.position = Point(trans[0],trans[1],trans[2]) |
| 3499 | + current_pose_.pose.orientation = Quaternion(rot[0],rot[1],rot[2],rot[3]) |
| 3500 | + |
| 3501 | + # for each place location |
| 3502 | + for index, target_pose_ in enumerate(place_goal.place_locations): |
| 3503 | + |
| 3504 | + #compute straight trajectory to approach distance |
| 3505 | + target_approach_pose_= PoseStamped() |
| 3506 | + target_approach_pose_.header.frame_id = "/world" |
| 3507 | + target_approach_pose_.pose.position = Point(target_pose_.pose.position.x,target_pose_.pose.position.y,target_pose_.pose.position.z+place_goal.approach.desired_distance) |
| 3508 | + target_approach_pose_.pose.orientation = Quaternion(target_pose_.pose.orientation.x,target_pose_.pose.orientation.y,target_pose_.pose.orientation.z,target_pose_.pose.orientation.w) #keep same orientation for the first test |
| 3509 | + |
| 3510 | + # for distance from 0 (release_pose) to desired_approach distance (approach_pose) test IK/Collision and save result |
| 3511 | + # decompose this in X steps depending on distance to do and max speed |
| 3512 | + interpolated_motion_plan_res = self.plan.get_interpolated_ik_motion_plan(target_approach_pose_, target_pose_, False) |
| 3513 | + |
| 3514 | + # check the result (depending on number of steps etc...) |
| 3515 | + if (interpolated_motion_plan_res.error_code.val == interpolated_motion_plan_res.error_code.SUCCESS): |
| 3516 | + number_of_interpolated_steps=0 |
| 3517 | + # check if one approach trajectory is feasible |
| 3518 | + for interpolation_index, traj_error_code in enumerate(interpolated_motion_plan_res.trajectory_error_codes): |
| 3519 | + if traj_error_code.val!=1: |
| 3520 | + rospy.logerr("One unfeasible approach-phase step found at "+str(interpolation_index)+ "with val " + str(traj_error_code.val)) |
| 3521 | + break |
| 3522 | + else: |
| 3523 | + number_of_interpolated_steps=interpolation_index |
| 3524 | + |
| 3525 | + # if trajectory is feasible then plan reach motion to approach pose |
| 3526 | + if number_of_interpolated_steps+1==len(interpolated_motion_plan_res.trajectory.joint_trajectory.points): |
| 3527 | + rospy.loginfo("Place pose number "+str(index)+" approach is possible, checking motion plan to approach pose") |
| 3528 | + #print interpolated_motion_plan_res |
| 3529 | + |
| 3530 | + # check and plan motion to this approach pose |
| 3531 | + motion_plan_res = self.plan.plan_arm_motion( place_goal.arm_name, "jointspace" ,target_approach_pose_)#,object_to_attach) |
| 3532 | + |
| 3533 | + #if this approach pose is successful do not test others |
| 3534 | + if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS): |
| 3535 | + rospy.loginfo("Place pose number "+str(index)+" is possible, executing it") |
| 3536 | + # copy the pose to execute for the following steps |
| 3537 | + target_pose_to_execute_ = copy.deepcopy(target_pose_) |
| 3538 | + break |
| 3539 | + else: |
| 3540 | + rospy.logerr("Place pose number "+str(index)+" approach is impossible") |
| 3541 | + #print interpolated_motion_plan_res |
| 3542 | + else: |
| 3543 | + rospy.logerr("Place pose number "+str(index)+" approach is impossible") |
| 3544 | + #print interpolated_motion_plan_res |
| 3545 | + |
| 3546 | + # execution part |
| 3547 | + if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS): |
| 3548 | + #go there |
| 3549 | + # filter the trajectory |
| 3550 | + filtered_traj = self.filter_traj_(motion_plan_res) |
| 3551 | + |
| 3552 | + self.display_traj_( filtered_traj ) |
| 3553 | + |
| 3554 | + # reach approach pose |
| 3555 | + if self.send_traj_( filtered_traj )<0: |
| 3556 | + #QMessageBox.warning(self, "Warning", |
| 3557 | + # "Reach trajectory execution failed: ") |
| 3558 | + placeresult.manipulation_result.value = ManipulationResult.FAILED |
| 3559 | + return placeresult |
| 3560 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3561 | + |
| 3562 | + # approach |
| 3563 | + if self.send_traj_( interpolated_motion_plan_res.trajectory.joint_trajectory )<0: |
| 3564 | + #QMessageBox.warning(self, "Warning", |
| 3565 | + # "Approach trajectory execution failed: ") |
| 3566 | + placeresult.manipulation_result.value = ManipulationResult.FAILED |
| 3567 | + return placeresult |
| 3568 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3569 | + |
| 3570 | + #put hand in pre-grasp posture (to gently release) |
| 3571 | + if self.pre_grasp_exec(place_goal.grasp)<0: |
| 3572 | + #QMessageBox.warning(self, "Warning", |
| 3573 | + # "Release action failed: ") |
| 3574 | + placeresult.manipulation_result.value = ManipulationResult.FAILED |
| 3575 | + return placeresult |
| 3576 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3577 | + #detach the object from the hand |
| 3578 | + rospy.loginfo("Now we detach the attached object") |
| 3579 | + att_object = AttachedCollisionObject() |
| 3580 | + att_object.link_name = "palm" |
| 3581 | + att_object.object.id = object_to_attach |
| 3582 | + att_object.object.operation.operation = CollisionObjectOperation.DETACH_AND_ADD_AS_OBJECT |
| 3583 | + att_object.object.header.frame_id = "palm" |
| 3584 | + att_object.object.header.stamp = rospy.Time.now() |
| 3585 | + object = Shape() |
| 3586 | + object.type = Shape.CYLINDER |
| 3587 | + object.dimensions.append(.03) |
| 3588 | + object.dimensions.append(0.1) |
| 3589 | + pose = Pose() |
| 3590 | + pose.position.x = 0.0 |
| 3591 | + pose.position.y = -0.06 |
| 3592 | + pose.position.z = 0.06 |
| 3593 | + pose.orientation.x = 0 |
| 3594 | + pose.orientation.y = 0 |
| 3595 | + pose.orientation.z = 0 |
| 3596 | + pose.orientation.w = 1 |
| 3597 | + att_object.object.shapes.append(object) |
| 3598 | + att_object.object.poses.append(pose); |
| 3599 | + self.att_object_in_map_pub_.publish(att_object) |
| 3600 | + rospy.loginfo("Attached object to be detached published") |
| 3601 | + |
| 3602 | + |
| 3603 | + else: |
| 3604 | + rospy.logerr("None of the place pose tested is possible") |
| 3605 | + placeresult.manipulation_result.value = ManipulationResult.UNFEASIBLE |
| 3606 | + return placeresult |
| 3607 | + placeresult.manipulation_result.value = ManipulationResult.SUCCESS |
| 3608 | + placeresult.place_location= target_pose_to_execute_ |
| 3609 | + return placeresult |
| 3610 | + |
| 3611 | + def retreat(self, target_retreat_distance): |
| 3612 | + #straight movement above object, just for compatibility |
| 3613 | + |
| 3614 | + #check if object is released |
| 3615 | + # TODO |
| 3616 | + |
| 3617 | + # get current hand pose |
| 3618 | + self.listener.waitForTransform('/world', '/palm', rospy.Time(), rospy.Duration(1.0)) |
| 3619 | + try: |
| 3620 | + (trans,rot) = self.listener.lookupTransform('/world', '/palm', rospy.Time()) |
| 3621 | + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): |
| 3622 | + rospy.logerr("Cannot get current palm pose") |
| 3623 | + return |
| 3624 | + |
| 3625 | + current_pose_= PoseStamped() |
| 3626 | + current_pose_.header.frame_id = "/world" |
| 3627 | + current_pose_.pose.position = Point(trans[0],trans[1],trans[2]) |
| 3628 | + current_pose_.pose.orientation = Quaternion(rot[0],rot[1],rot[2],rot[3]) |
| 3629 | + |
| 3630 | + # prepare target pose |
| 3631 | + target_pose_=PoseStamped() |
| 3632 | + target_pose_.header.frame_id = "/world" |
| 3633 | + target_pose_.pose.position = Point(trans[0],trans[1],trans[2]+target_retreat_distance) |
| 3634 | + target_pose_.pose.orientation = Quaternion(rot[0],rot[1],rot[2],rot[3]) #keep same orientation for the first test |
| 3635 | + |
| 3636 | + #compute straight trajectory in 6D or in 3D if it fails |
| 3637 | + # for distance from 0 (grasp_pose) to desired_height test IK/Collision and save result |
| 3638 | + # decompose this in X steps depending on distance to do and max speed |
| 3639 | + interpolated_motion_plan_res = self.plan.get_interpolated_ik_motion_plan(current_pose_, target_pose_, False) |
| 3640 | + |
| 3641 | + # check the result (depending on number of steps etc...) |
| 3642 | + if (interpolated_motion_plan_res.error_code.val == interpolated_motion_plan_res.error_code.SUCCESS): |
| 3643 | + number_of_interpolated_steps=0 |
| 3644 | + # check if one approach trajectory is feasible |
| 3645 | + for interpolation_index, traj_error_code in enumerate(interpolated_motion_plan_res.trajectory_error_codes): |
| 3646 | + if traj_error_code.val!=1: |
| 3647 | + rospy.logerr("One unfeasible retreat step found at "+str(interpolation_index)+ "with val " + str(traj_error_code.val)) |
| 3648 | + break |
| 3649 | + else: |
| 3650 | + number_of_interpolated_steps=interpolation_index |
| 3651 | + |
| 3652 | + if number_of_interpolated_steps+1==len(interpolated_motion_plan_res.trajectory.joint_trajectory.points): |
| 3653 | + rospy.loginfo("retreat is possible") |
| 3654 | + else: |
| 3655 | + rospy.logerr("retreat is impossible") |
| 3656 | + print interpolated_motion_plan_res |
| 3657 | + return |
| 3658 | + else: |
| 3659 | + rospy.logerr("retreat planning failed") |
| 3660 | + print interpolated_motion_plan_res |
| 3661 | + return |
| 3662 | + |
| 3663 | + self.send_traj_( interpolated_motion_plan_res.trajectory.joint_trajectory ) |
| 3664 | + time.sleep(self.simdelay) # TODO use actionlib here |
| 3665 | + return |
| 3666 | + |
| 3667 | + def grasp_release_exec(self,timeout_sec=10.0): |
| 3668 | + hand_posture_goal_ = GraspHandPostureExecutionGoal() |
| 3669 | + hand_posture_goal_.grasp = Grasp() |
| 3670 | + hand_posture_goal_.grasp.pre_grasp_posture.name= [ "FFJ0", "FFJ3", "FFJ4", "LFJ0", "LFJ3", "LFJ4", "LFJ5", "MFJ0", "MFJ3", "MFJ4", "RFJ0", "RFJ3", "RFJ4", "THJ1", "THJ2", "THJ3", "THJ4", "THJ5", "WRJ1", "WRJ2"] |
| 3671 | + hand_posture_goal_.grasp.pre_grasp_posture.position = [0]*(18) |
| 3672 | + # do release action |
| 3673 | + hand_posture_goal_.goal = GraspHandPostureExecutionGoal.RELEASE |
| 3674 | + # call hand_posture_exec action lib |
| 3675 | + rospy.loginfo("Trying to release...") |
| 3676 | + return self.hand_posture_exec(hand_posture_goal_,timeout_sec) |
| 3677 | + |
| 3678 | + def pre_grasp_exec(self, grasp,timeout_sec=10.0): |
| 3679 | + |
| 3680 | + hand_posture_goal_ = GraspHandPostureExecutionGoal() |
| 3681 | + hand_posture_goal_.grasp = grasp |
| 3682 | + # do pre-grasp action |
| 3683 | + hand_posture_goal_.goal = GraspHandPostureExecutionGoal.PRE_GRASP |
| 3684 | + hand_posture_goal_.max_contact_force = 0.0 |
| 3685 | + # call hand_posture_exec action lib |
| 3686 | + rospy.loginfo("Trying to pre-grasp...") |
| 3687 | + return self.hand_posture_exec(hand_posture_goal_,timeout_sec) |
| 3688 | + |
| 3689 | + def grasp_exec(self, grasp, timeout_sec=15.0): |
| 3690 | + |
| 3691 | + hand_posture_goal_ = GraspHandPostureExecutionGoal() |
| 3692 | + hand_posture_goal_.grasp = grasp |
| 3693 | + # do grasp action |
| 3694 | + hand_posture_goal_.goal = GraspHandPostureExecutionGoal.GRASP |
| 3695 | + hand_posture_goal_.max_contact_force = 1.0 |
| 3696 | + # call hand_posture_exec action lib |
| 3697 | + rospy.loginfo("Trying to grasp...") |
| 3698 | + return self.hand_posture_exec(hand_posture_goal_,timeout_sec) |
| 3699 | + |
| 3700 | + def hand_posture_exec(self, hand_posture_goal,timeout_sec): |
| 3701 | + # call hand_posture_exec action lib |
| 3702 | + self.hand_posture_execution_actionclient_.send_goal(hand_posture_goal) |
| 3703 | + # wait for result up to 10 seconds |
| 3704 | + self.hand_posture_execution_actionclient_.wait_for_result(timeout=rospy.Duration.from_sec(timeout_sec)) |
| 3705 | + #rospy.loginfo("Got Hand Posture Exec results") |
| 3706 | + # analyze the result |
| 3707 | + hand_posture_exec_result_ = self.hand_posture_execution_actionclient_.get_result() |
| 3708 | + if self.hand_posture_execution_actionclient_.get_state() != GoalStatus.SUCCEEDED: |
| 3709 | + rospy.logerr("The action has failed: " + str(hand_posture_exec_result_.result) ) |
| 3710 | + return -1 |
| 3711 | + else: |
| 3712 | + rospy.loginfo("The action has succeeded") |
| 3713 | + return 0 |
| 3714 | + |
| 3715 | + def display_traj_(self, trajectory): |
| 3716 | + print "Display trajectory" |
| 3717 | + |
| 3718 | + traj = DisplayTrajectory() |
| 3719 | + traj.model_id = "shadow" |
| 3720 | + traj.trajectory.joint_trajectory = trajectory |
| 3721 | + traj.trajectory.joint_trajectory.header.frame_id = "world" |
| 3722 | + traj.trajectory.joint_trajectory.header.stamp = rospy.Time.now() |
| 3723 | + self.display_traj_pub_.publish(traj) |
| 3724 | + |
| 3725 | + print " -> trajectory published" |
| 3726 | + time.sleep(0.5) |
| 3727 | + |
| 3728 | + def filter_traj_(self, motion_plan_res): |
| 3729 | + try: |
| 3730 | + req = FilterJointTrajectoryRequest() |
| 3731 | + for name in ARM_NAMES: |
| 3732 | + limit = JointLimits() |
| 3733 | + limit.joint_name = name |
| 3734 | + limit.min_position = -1.5 |
| 3735 | + limit.max_position = 1.5 |
| 3736 | + limit.has_velocity_limits = True |
| 3737 | + limit.max_velocity = 0.1 |
| 3738 | + limit.has_acceleration_limits = True |
| 3739 | + limit.max_acceleration = 0.1 |
| 3740 | + req.limits.append(limit) |
| 3741 | + |
| 3742 | + req.trajectory = motion_plan_res.trajectory.joint_trajectory |
| 3743 | + req.allowed_time = rospy.Duration.from_sec( 5.0 ) |
| 3744 | + |
| 3745 | + res = self.get_joint_state_.call() |
| 3746 | + req.start_state.joint_state = res.joint_state |
| 3747 | + |
| 3748 | + res = self.trajectory_filter_.call( req ) |
| 3749 | + except rospy.ServiceException, e: |
| 3750 | + rospy.logerr("Failed to filter "+str(e)) |
| 3751 | + return motion_plan_res.trajectory |
| 3752 | + |
| 3753 | + return res.trajectory |
| 3754 | + |
| 3755 | + def send_traj_(self, trajectory): |
| 3756 | + print "Sending trajectory" |
| 3757 | + #prepare goal |
| 3758 | + trajgoal = FollowJointTrajectoryGoal() |
| 3759 | + trajgoal.trajectory = trajectory |
| 3760 | + # send goal |
| 3761 | + self.joint_spline_trajectory_actionclient_.send_goal(trajgoal) |
| 3762 | + # wait for result up to 30 seconds |
| 3763 | + self.joint_spline_trajectory_actionclient_.wait_for_result(timeout=rospy.Duration.from_sec(50)) |
| 3764 | + # analyze result |
| 3765 | + joint_spline_trajectory_result_ = self.joint_spline_trajectory_actionclient_.get_result() |
| 3766 | + if self.joint_spline_trajectory_actionclient_.get_state() != GoalStatus.SUCCEEDED: |
| 3767 | + rospy.logerr("The joint_trajectory action has failed: " + str(joint_spline_trajectory_result_.error_code) ) |
| 3768 | + return -1 |
| 3769 | + else: |
| 3770 | + rospy.loginfo("The joint_trajectory action has succeeded") |
| 3771 | + return 0 |
| 3772 | + |
| 3773 | +if __name__ =="__main__": |
| 3774 | + rospy.init_node("execution") |
| 3775 | + execute = Execution() |
| 3776 | + |
| 3777 | + object_pose = PoseStamped() |
| 3778 | + object_pose.pose.position.x = 0.470 |
| 3779 | + object_pose.pose.position.y = 0.166 |
| 3780 | + object_pose.pose.position.z = 1.665 |
| 3781 | + |
| 3782 | + object_pose.pose.orientation.x = 0.375 |
| 3783 | + object_pose.pose.orientation.y = 0.155 |
| 3784 | + object_pose.pose.orientation.z = 0.844 |
| 3785 | + object_pose.pose.orientation.w = 0.351 |
| 3786 | + |
| 3787 | + execute.pick( object_pose ) |
| 3788 | + rospy.spin() |
| 3789 | + |
| 3790 | + |
| 3791 | |
| 3792 | === added file 'sr_pick_and_place/src/planification.py' |
| 3793 | --- sr_pick_and_place/src/planification.py 1970-01-01 00:00:00 +0000 |
| 3794 | +++ sr_pick_and_place/src/planification.py 2012-10-31 08:29:25 +0000 |
| 3795 | @@ -0,0 +1,437 @@ |
| 3796 | +#!/usr/bin/env python |
| 3797 | +# |
| 3798 | +# Copyright 2011 Shadow Robot Company Ltd. |
| 3799 | +# |
| 3800 | +# This program is free software: you can redistribute it and/or modify it |
| 3801 | +# under the terms of the GNU General Public License as published by the Free |
| 3802 | +# Software Foundation, either version 2 of the License, or (at your option) |
| 3803 | +# any later version. |
| 3804 | +# |
| 3805 | +# This program is distributed in the hope that it will be useful, but WITHOUT |
| 3806 | +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
| 3807 | +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for |
| 3808 | +# more details. |
| 3809 | +# |
| 3810 | +# You should have received a copy of the GNU General Public License along |
| 3811 | +# with this program. If not, see <http://www.gnu.org/licenses/>. |
| 3812 | +# |
| 3813 | + |
| 3814 | +import roslib; roslib.load_manifest("sr_pick_and_place") |
| 3815 | +import rospy |
| 3816 | + |
| 3817 | +from arm_navigation_msgs.srv import GetMotionPlan, GetMotionPlanRequest, GetMotionPlanResponse, FilterJointTrajectoryWithConstraints, FilterJointTrajectoryWithConstraintsRequest |
| 3818 | +from arm_navigation_msgs.srv import SetPlanningSceneDiff, SetPlanningSceneDiffRequest |
| 3819 | +from arm_navigation_msgs.msg import MotionPlanRequest, PositionConstraint, OrientationConstraint, DisplayTrajectory, Constraints, JointConstraint, JointLimits, RobotState, AttachedCollisionObject, CollisionObjectOperation, Shape |
| 3820 | +from interpolated_ik_motion_planner.srv import SetInterpolatedIKMotionPlanParams |
| 3821 | +#import interpolated_ik_motion_planner.ik_utilities as ik_utilities |
| 3822 | +from kinematics_msgs.srv import GetConstraintAwarePositionIK |
| 3823 | +from kinematics_msgs.msg import PositionIKRequest |
| 3824 | +from geometry_msgs.msg import PoseStamped, Pose |
| 3825 | +from trajectory_msgs.msg import JointTrajectory |
| 3826 | +from sr_utilities.srv import getJointState |
| 3827 | + |
| 3828 | +import time |
| 3829 | +import math |
| 3830 | + |
| 3831 | +ARM_NAMES = ['ShoulderJRotate', 'ShoulderJSwing', 'ElbowJSwing', 'ElbowJRotate', "WRJ1", "WRJ2"] |
| 3832 | +ARM_IK_SEED = [-0.0011556513918362654, 0.33071140061761284, 1.9152039367468952, 0.008440334101951663, 0.0, 0.0] |
| 3833 | + |
| 3834 | +class Planification(object): |
| 3835 | + """ |
| 3836 | + """ |
| 3837 | + |
| 3838 | + def __init__(self, ): |
| 3839 | + """ |
| 3840 | + """ |
| 3841 | + rospy.loginfo("Waiting for services /ompl_planning/plan_kinematic_path, /environment_server/set_planning_scene_diff, /shadow_right_arm_kinematics/get_constraint_aware_ik ...") |
| 3842 | + |
| 3843 | + rospy.wait_for_service("/ompl_planning/plan_kinematic_path") |
| 3844 | + rospy.wait_for_service("/environment_server/set_planning_scene_diff") |
| 3845 | + rospy.wait_for_service("/shadow_right_arm_kinematics/get_constraint_aware_ik") |
| 3846 | + rospy.wait_for_service("/r_interpolated_ik_motion_plan_set_params") |
| 3847 | + rospy.wait_for_service("/r_interpolated_ik_motion_plan") |
| 3848 | + rospy.wait_for_service("/trajectory_filter_server/filter_trajectory_with_constraints") |
| 3849 | + rospy.wait_for_service("/getJointState") |
| 3850 | + rospy.loginfo(" OK services found") |
| 3851 | + |
| 3852 | + self.set_planning_scene_diff_ = rospy.ServiceProxy("/environment_server/set_planning_scene_diff", SetPlanningSceneDiff) |
| 3853 | + self.planifier_ = rospy.ServiceProxy('/ompl_planning/plan_kinematic_path', GetMotionPlan) |
| 3854 | + self.constraint_aware_ik_ = rospy.ServiceProxy("/shadow_right_arm_kinematics/get_constraint_aware_ik", GetConstraintAwarePositionIK) |
| 3855 | + self.interpolated_ik_params_srv = rospy.ServiceProxy('/r_interpolated_ik_motion_plan_set_params', SetInterpolatedIKMotionPlanParams) |
| 3856 | + self.interpolated_ik_srv = rospy.ServiceProxy('/r_interpolated_ik_motion_plan', GetMotionPlan) |
| 3857 | + self.trajectory_filter_ = rospy.ServiceProxy("/trajectory_filter_server/filter_trajectory_with_constraints", FilterJointTrajectoryWithConstraints) |
| 3858 | + self.get_joint_state_ = rospy.ServiceProxy("/getJointState", getJointState) # TODO use another getJointstateProvided by env Server |
| 3859 | + |
| 3860 | + #self.ik_utils = ik_utilities.IKUtilities('right',None,0) # do not wait for service this is not needed for us |
| 3861 | + |
| 3862 | + #self.standard_ik_ = rospy.ServiceProxy("/shadow_right_arm_kinematics/get_ik", GetPositionIK) |
| 3863 | + |
| 3864 | + |
| 3865 | + def plan_arm_motion(self, arm_name, planner, palm_target_pose, attached_object=[], hand_target_posture=[]): |
| 3866 | + """Plan motion for the palm, eventually virtually setting the hand in the pre-grasp posture to manage grasping in small spaces |
| 3867 | + """ |
| 3868 | + goal = PoseStamped() |
| 3869 | + goal.header.frame_id = "world" |
| 3870 | + |
| 3871 | + goal.pose=palm_target_pose.pose |
| 3872 | + |
| 3873 | + #goal.pose.position.x = 0.470 |
| 3874 | + #goal.pose.position.y = -0.166 |
| 3875 | + #goal.pose.position.z = 1.665 |
| 3876 | + |
| 3877 | + #goal.pose.orientation.x = 0.375 |
| 3878 | + #goal.pose.orientation.y = 0.155 |
| 3879 | + #goal.pose.orientation.z = 0.844 |
| 3880 | + #goal.pose.orientation.w = 0.351 |
| 3881 | + |
| 3882 | + if(planner=="cartesianspace"): |
| 3883 | + result=self.plan_motion_cartesian_( arm_name, goal ) |
| 3884 | + else: |
| 3885 | + result=self.plan_motion_joint_state_( arm_name, goal , attached_object ) |
| 3886 | + |
| 3887 | + return result |
| 3888 | + |
| 3889 | + def plan_motion_joint_state_(self, arm_name, goal_pose, attached_object_name=[], link_name = "palm"): |
| 3890 | + self.reset_planning_scene_() |
| 3891 | + if(attached_object_name): |
| 3892 | + print "an object is attached" |
| 3893 | + self.set_planning_scene_(attached_object_name) |
| 3894 | + |
| 3895 | + motion_plan_res= GetMotionPlanResponse() |
| 3896 | + |
| 3897 | + #first get the ik for the pose we want to go to |
| 3898 | + ik_solution = None |
| 3899 | + try: |
| 3900 | + req = PositionIKRequest() |
| 3901 | + req.ik_link_name = link_name |
| 3902 | + req.pose_stamped = goal_pose |
| 3903 | + req.ik_seed_state.joint_state.name = ARM_NAMES |
| 3904 | + req.ik_seed_state.joint_state.position = ARM_IK_SEED |
| 3905 | + ik_solution = self.constraint_aware_ik_.call( req, Constraints(), rospy.Duration(5.0) ) |
| 3906 | + except rospy.ServiceException, e: |
| 3907 | + rospy.logerr( "Failed to compute IK "+str(e) ) |
| 3908 | + motion_plan_res.error_code.val = motion_plan_res.error_code.NO_IK_SOLUTION |
| 3909 | + return motion_plan_res |
| 3910 | + |
| 3911 | + if ik_solution.error_code.val != ik_solution.error_code.SUCCESS: |
| 3912 | + rospy.logerr("couldn't find an ik solution to go to: " + str(goal_pose)) |
| 3913 | + motion_plan_res.error_code.val = ik_solution.error_code.val |
| 3914 | + return motion_plan_res |
| 3915 | + |
| 3916 | + #motion_plan_res = None |
| 3917 | + #try to plan the motion to the target joint_state |
| 3918 | + try: |
| 3919 | + motion_plan_request = MotionPlanRequest() |
| 3920 | + |
| 3921 | + motion_plan_request.group_name = arm_name #"right_arm" |
| 3922 | + motion_plan_request.num_planning_attempts = 1 |
| 3923 | + motion_plan_request.planner_id = "" |
| 3924 | + motion_plan_request.allowed_planning_time = rospy.Duration(5.0) |
| 3925 | + |
| 3926 | + motion_plan_request.expected_path_duration = rospy.Duration(5.0) |
| 3927 | + motion_plan_request.expected_path_dt = rospy.Duration(0.5) |
| 3928 | + |
| 3929 | + # set joint_constraints |
| 3930 | + for target, name in zip(ik_solution.solution.joint_state.position, ik_solution.solution.joint_state.name): |
| 3931 | + joint_constraint = JointConstraint() |
| 3932 | + joint_constraint.joint_name = name |
| 3933 | + joint_constraint.position = target |
| 3934 | + joint_constraint.tolerance_below = 0.1 |
| 3935 | + joint_constraint.tolerance_above = 0.1 |
| 3936 | + |
| 3937 | + motion_plan_request.goal_constraints.joint_constraints.append(joint_constraint) |
| 3938 | + |
| 3939 | + # start the planner |
| 3940 | + motion_plan_res = self.planifier_( motion_plan_request ) |
| 3941 | + |
| 3942 | + if motion_plan_res.error_code.val != motion_plan_res.error_code.SUCCESS: |
| 3943 | + rospy.logerr("The planning failed: " + str(motion_plan_res.error_code.val)) |
| 3944 | + else: |
| 3945 | + # compute velocity and appropriate times |
| 3946 | + (times, vels) = self.trajectory_times_and_vels(motion_plan_res.trajectory, [.05]*6, [.1]*6) |
| 3947 | + #print times |
| 3948 | + #print vels |
| 3949 | + for i in range(len(motion_plan_res.trajectory.joint_trajectory.points)): |
| 3950 | + motion_plan_res.trajectory.joint_trajectory.points[i].velocities = vels[i] |
| 3951 | + motion_plan_res.trajectory.joint_trajectory.points[i].time_from_start = rospy.Duration(times[i]) |
| 3952 | + #print motion_plan_res.trajectory.joint_trajectory |
| 3953 | + except rospy.ServiceException, e: |
| 3954 | + rospy.logerr( "Failed to plan "+str(e) ) |
| 3955 | + motion_plan_res.error_code.val = motion_plan_res.error_code.PLANNING_FAILED |
| 3956 | + |
| 3957 | + filtered_traj = self.filter_traj_(motion_plan_request, motion_plan_res) |
| 3958 | + motion_plan_res.trajectory.joint_trajectory = filtered_traj |
| 3959 | + |
| 3960 | + return motion_plan_res |
| 3961 | + |
| 3962 | + def plan_motion_cartesian_(self, arm_name, goal_pose, link_name="palm"): |
| 3963 | + self.reset_planning_scene_() |
| 3964 | + |
| 3965 | + motion_plan_res = None |
| 3966 | + try: |
| 3967 | + motion_plan_request = MotionPlanRequest() |
| 3968 | + |
| 3969 | + motion_plan_request.group_name = "right_arm_cartesian" |
| 3970 | + motion_plan_request.num_planning_attempts = 1 |
| 3971 | + motion_plan_request.planner_id = "" |
| 3972 | + motion_plan_request.allowed_planning_time = rospy.Duration(120.0) |
| 3973 | + |
| 3974 | + position_constraint = PositionConstraint() |
| 3975 | + position_constraint.header.stamp = rospy.Time.now() |
| 3976 | + position_constraint.header.frame_id = goal_pose.header.frame_id |
| 3977 | + position_constraint.link_name = link_name |
| 3978 | + position_constraint.position = goal_pose.pose.position |
| 3979 | + position_constraint.constraint_region_shape.type = Shape.BOX |
| 3980 | + position_constraint.constraint_region_shape.dimensions.append(0.1) |
| 3981 | + position_constraint.constraint_region_shape.dimensions.append(0.1) |
| 3982 | + position_constraint.constraint_region_shape.dimensions.append(0.1) |
| 3983 | + position_constraint.weight = 1.0 |
| 3984 | + #position_constraint.constraint_region_orientation.x = 0.307 |
| 3985 | + #position_constraint.constraint_region_orientation.y = 0.127 |
| 3986 | + #position_constraint.constraint_region_orientation.z = 0.871 |
| 3987 | + #position_constraint.constraint_region_orientation.w = 0.362 |
| 3988 | + position_constraint.constraint_region_orientation.w = 1.0 |
| 3989 | + motion_plan_request.goal_constraints.position_constraints.append(position_constraint) |
| 3990 | + |
| 3991 | + orientation_constraint = OrientationConstraint() |
| 3992 | + orientation_constraint.header.stamp = rospy.Time.now() |
| 3993 | + orientation_constraint.header.frame_id = goal_pose.header.frame_id |
| 3994 | + orientation_constraint.link_name = link_name |
| 3995 | + |
| 3996 | + orientation_constraint.orientation.x = 0.351 |
| 3997 | + orientation_constraint.orientation.y = 0.155 |
| 3998 | + orientation_constraint.orientation.z = 0.844 |
| 3999 | + orientation_constraint.orientation.w = 0.375 |
| 4000 | + |
| 4001 | + #orientation_constraint.orientation.x = 0.454 |
| 4002 | + #orientation_constraint.orientation.y = 0.665 |
| 4003 | + #orientation_constraint.orientation.z = 0.499 |
| 4004 | + #orientation_constraint.orientation.w = 0.320 |
| 4005 | + |
| 4006 | + orientation_constraint.absolute_roll_tolerance = 1.5 |
| 4007 | + orientation_constraint.absolute_pitch_tolerance = 1.5 |
| 4008 | + orientation_constraint.absolute_yaw_tolerance = 1.5 |
| 4009 | + orientation_constraint.weight = 0.5 |
| 4010 | + motion_plan_request.goal_constraints.orientation_constraints.append(orientation_constraint) |
| 4011 | + |
| 4012 | + motion_plan_res = self.planifier_( motion_plan_request ) |
| 4013 | + |
| 4014 | + if motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS: |
| 4015 | + self.display_traj_( motion_plan_res ) |
| 4016 | + else: |
| 4017 | + rospy.logerr("The planning failed: " + str(motion_plan_res.error_code.val)) |
| 4018 | + |
| 4019 | + except rospy.ServiceException, e: |
| 4020 | + rospy.logerr( "Failed to plan "+str(e) ) |
| 4021 | + return False |
| 4022 | + |
| 4023 | + def filter_traj_(self, motion_plan_req, motion_plan_res): |
| 4024 | + try: |
| 4025 | + req = FilterJointTrajectoryWithConstraintsRequest() |
| 4026 | + req.group_name="right_arm" |
| 4027 | + for name in ARM_NAMES: |
| 4028 | + limit = JointLimits() |
| 4029 | + limit.joint_name = name |
| 4030 | + limit.min_position = -1.5 |
| 4031 | + limit.max_position = 1.5 |
| 4032 | + limit.has_velocity_limits = True |
| 4033 | + limit.max_velocity = 0.05 |
| 4034 | + limit.has_acceleration_limits = True |
| 4035 | + limit.max_acceleration = 0.1 |
| 4036 | + req.limits.append(limit) |
| 4037 | + |
| 4038 | + req.trajectory = motion_plan_res.trajectory.joint_trajectory |
| 4039 | + req.goal_constraints=motion_plan_req.goal_constraints |
| 4040 | + req.path_constraints=motion_plan_req.path_constraints |
| 4041 | + req.allowed_time = rospy.Duration.from_sec( 5.0 ) |
| 4042 | + res = self.get_joint_state_.call() |
| 4043 | + req.start_state.joint_state = res.joint_state |
| 4044 | + |
| 4045 | + res = self.trajectory_filter_.call( req ) |
| 4046 | + except rospy.ServiceException, e: |
| 4047 | + rospy.logerr("Failed to filter "+str(e)) |
| 4048 | + return motion_plan_res.trajectory |
| 4049 | + |
| 4050 | + return res.trajectory |
| 4051 | + |
| 4052 | + def get_interpolated_ik_motion_plan(self, start_pose, target_pose, collision_check=False, |
| 4053 | + steps_before_abort=1, num_steps=0, |
| 4054 | + frame='shadowarm_base', max_joint_vels=[0.1]*6, max_joint_accs=[0.3]*6): |
| 4055 | + |
| 4056 | + ik_motion_plan_res = self.interpolated_ik_params_srv(num_steps, |
| 4057 | + math.pi/7.0, |
| 4058 | + 1, |
| 4059 | + steps_before_abort, |
| 4060 | + 0.02, |
| 4061 | + 0.1, |
| 4062 | + collision_check, |
| 4063 | + 1, #start from end |
| 4064 | + max_joint_vels, |
| 4065 | + max_joint_accs) |
| 4066 | + |
| 4067 | + |
| 4068 | + self.reset_planning_scene_() |
| 4069 | + ik_motion_plan_req = GetMotionPlanRequest() |
| 4070 | + ik_motion_plan_req.motion_plan_request.start_state.joint_state.name = ARM_NAMES |
| 4071 | + |
| 4072 | + #joint_state_res = self.get_joint_state_.call() |
| 4073 | + #start_angles = res.joint_state.positions # one cannot use this directly it contains not only arm but also fingers |
| 4074 | + ik_motion_plan_req.motion_plan_request.start_state.joint_state.position = [0.3]*6 #start_angles |
| 4075 | + ik_motion_plan_req.motion_plan_request.start_state.multi_dof_joint_state.poses = [start_pose.pose] |
| 4076 | + ik_motion_plan_req.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = ["palm"] |
| 4077 | + ik_motion_plan_req.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = [start_pose.header.frame_id] |
| 4078 | + |
| 4079 | + pos_constraint = PositionConstraint() |
| 4080 | + pos_constraint.position = target_pose.pose.position |
| 4081 | + pos_constraint.header.frame_id = target_pose.header.frame_id |
| 4082 | + ik_motion_plan_req.motion_plan_request.goal_constraints.position_constraints = [pos_constraint] |
| 4083 | + |
| 4084 | + orient_constraint = OrientationConstraint() |
| 4085 | + orient_constraint.orientation = target_pose.pose.orientation |
| 4086 | + orient_constraint.header.frame_id = target_pose.header.frame_id |
| 4087 | + ik_motion_plan_req.motion_plan_request.goal_constraints.orientation_constraints = [orient_constraint] |
| 4088 | + |
| 4089 | + #if ordered_collision_operations is not None: |
| 4090 | + # ik_motion_plan_req.motion_plan_request.ordered_collision_operations = ordered_collision_operations |
| 4091 | + #rospy.logerr("ik req") |
| 4092 | + #print ik_motion_plan_req |
| 4093 | + ik_motion_plan_res = self.interpolated_ik_srv(ik_motion_plan_req) |
| 4094 | + return ik_motion_plan_res |
| 4095 | + |
| 4096 | + def trajectory_times_and_vels(self, traj, max_joint_vels = [.2]*6, max_joint_accs = [.5]*6): |
| 4097 | + |
| 4098 | + #min time for each segment |
| 4099 | + min_segment_time = .01 |
| 4100 | + |
| 4101 | + if not traj: |
| 4102 | + rospy.logdebug("traj path was empty!") |
| 4103 | + return([], []) |
| 4104 | + traj_length = len(traj.joint_trajectory.points) |
| 4105 | + num_joints = len(traj.joint_trajectory.joint_names) |
| 4106 | + |
| 4107 | + #sanity-check max vels and accelerations |
| 4108 | + if not max_joint_vels: |
| 4109 | + max_joint_vels = [.2]*7 |
| 4110 | + elif len(max_joint_vels) != num_joints: |
| 4111 | + rospy.logerr("invalid max_joint_vels!") |
| 4112 | + return ([], []) |
| 4113 | + if not max_joint_accs: |
| 4114 | + max_joint_accs = [.5]*7 |
| 4115 | + elif len(max_joint_accs) != num_joints: |
| 4116 | + rospy.logerr("invalid max_joint_accs!") |
| 4117 | + return ([], []) |
| 4118 | + for ind in range(num_joints): |
| 4119 | + if max_joint_vels[ind] <= 0.: |
| 4120 | + max_joint_vels[ind] = .2 |
| 4121 | + if max_joint_accs[ind] <= 0.: |
| 4122 | + max_joint_accs[ind] = .5 |
| 4123 | + |
| 4124 | + vels = [[None]*num_joints for i in range(traj_length)] |
| 4125 | + |
| 4126 | + #give the trajectory a bit of time to start |
| 4127 | + segment_times = [None]*traj_length |
| 4128 | + segment_times[0] = 0.05 |
| 4129 | + |
| 4130 | + #find vaguely appropriate segment times, assuming that we're traveling at max_joint_vels at the fastest joint |
| 4131 | + for ind in range(traj_length-1): |
| 4132 | + joint_diffs = [math.fabs(traj.joint_trajectory.points[ind+1].positions[x]-traj.joint_trajectory.points[ind].positions[x]) for x in range(num_joints)] |
| 4133 | + joint_times = [diff/vel for (diff, vel) in zip(joint_diffs, max_joint_vels)] |
| 4134 | + segment_times[ind+1] = max(joint_times+[min_segment_time]) |
| 4135 | + |
| 4136 | + #set the initial and final velocities to 0 for all joints |
| 4137 | + vels[0] = [0.]*num_joints |
| 4138 | + vels[traj_length-1] = [0.]*num_joints |
| 4139 | + |
| 4140 | + #also set the velocity where any joint changes direction to be 0 for that joint |
| 4141 | + #and otherwise use the average velocity (assuming piecewise-linear velocities for the segments before and after) |
| 4142 | + for ind in range(1, traj_length-1): |
| 4143 | + for joint in range(num_joints): |
| 4144 | + diff0 = traj.joint_trajectory.points[ind].positions[joint]-traj.joint_trajectory.points[ind-1].positions[joint] |
| 4145 | + diff1 = traj.joint_trajectory.points[ind+1].positions[joint]-traj.joint_trajectory.points[ind].positions[joint] |
| 4146 | + if (diff0>0 and diff1<0) or (diff0<0 and diff1>0): |
| 4147 | + vels[ind][joint] = 0. |
| 4148 | + else: |
| 4149 | + vel0 = diff0/segment_times[ind] |
| 4150 | + vel1 = diff1/segment_times[ind+1] |
| 4151 | + vels[ind][joint] = (vel0+vel1)/2. |
| 4152 | + |
| 4153 | + #increase the times if the desired velocities would require overly large accelerations |
| 4154 | + for ind in range(1, traj_length): |
| 4155 | + for joint in range(num_joints): |
| 4156 | + veldiff = math.fabs(vels[ind][joint]-vels[ind-1][joint]) |
| 4157 | + acc = veldiff/segment_times[ind] |
| 4158 | + try: |
| 4159 | + if acc > max_joint_accs[joint]: |
| 4160 | + segment_times[ind] = veldiff/max_joint_accs[joint] |
| 4161 | + except: |
| 4162 | + pdb.set_trace() |
| 4163 | + |
| 4164 | + #turn the segment_times into waypoint times (cumulative) |
| 4165 | + times = [None]*traj_length |
| 4166 | + times[0] = segment_times[0] |
| 4167 | + for ind in range(1, traj_length): |
| 4168 | + try: |
| 4169 | + times[ind] = times[ind-1]+segment_times[ind] |
| 4170 | + except: |
| 4171 | + rospy.logerr("could not add segment time") |
| 4172 | + continue |
| 4173 | + |
| 4174 | + #return the times and velocities |
| 4175 | + return (times, vels) |
| 4176 | + |
| 4177 | + def reset_planning_scene_(self): |
| 4178 | + try: |
| 4179 | + self.set_planning_scene_diff_.call() |
| 4180 | + except: |
| 4181 | + rospy.logerr("failed to reset the planning scene") |
| 4182 | + |
| 4183 | + def set_planning_scene_(self,attached_object_name): |
| 4184 | + att_object = AttachedCollisionObject() |
| 4185 | + att_object.link_name = "palm" |
| 4186 | + att_object.object.id = attached_object_name |
| 4187 | + att_object.object.operation.operation = CollisionObjectOperation.ATTACH_AND_REMOVE_AS_OBJECT |
| 4188 | + att_object.object.header.frame_id = "palm" |
| 4189 | + att_object.object.header.stamp = rospy.Time.now() |
| 4190 | + object = Shape() |
| 4191 | + object.type = Shape.CYLINDER |
| 4192 | + object.dimensions.append(.03) |
| 4193 | + object.dimensions.append(0.1) |
| 4194 | + pose = Pose() |
| 4195 | + pose.position.x = 0.0 |
| 4196 | + pose.position.y = -0.06 |
| 4197 | + pose.position.z = 0.06 |
| 4198 | + pose.orientation.x = 0 |
| 4199 | + pose.orientation.y = 0 |
| 4200 | + pose.orientation.z = 0 |
| 4201 | + pose.orientation.w = 1 |
| 4202 | + att_object.object.shapes.append(object) |
| 4203 | + att_object.object.poses.append(pose); |
| 4204 | + att_object.touch_links= ["ffdistal","mfdistal","rfdistal","lfdistal","thdistal","ffmiddle","mfmiddle","rfmiddle","lfmiddle","thmiddle","ffproximal","mfproximal","rfproximal","lfproximal","thproximal","palm","lfmetacarpal","thbase"] |
| 4205 | + #att_object.touch_links.push_back("_end_effector"); |
| 4206 | + |
| 4207 | + planning_scene_req = SetPlanningSceneDiffRequest() |
| 4208 | + planning_scene_req.planning_scene_diff.attached_collision_objects.append(att_object); |
| 4209 | + try: |
| 4210 | + planning_scene_res=self.set_planning_scene_diff_.call(planning_scene_req) |
| 4211 | + except: |
| 4212 | + rospy.logerr("failed to set the planning scene") |
| 4213 | + |
| 4214 | +if __name__ =="__main__": |
| 4215 | + rospy.init_node("planification") |
| 4216 | + plan = Planification() |
| 4217 | + |
| 4218 | + object_pose = PoseStamped() |
| 4219 | + object_pose.pose.position.x = 0.470 |
| 4220 | + object_pose.pose.position.y = 0.166 |
| 4221 | + object_pose.pose.position.z = 1.665 |
| 4222 | + |
| 4223 | + object_pose.pose.orientation.x = 0.375 |
| 4224 | + object_pose.pose.orientation.y = 0.155 |
| 4225 | + object_pose.pose.orientation.z = 0.844 |
| 4226 | + object_pose.pose.orientation.w = 0.351 |
| 4227 | + |
| 4228 | + |
| 4229 | + result = plan.plan_arm_motion( "right_arm", "jointspace", object_pose ) |
| 4230 | + rospy.logerr("got result " + str(result)) |
| 4231 | + rospy.spin() |
| 4232 | + |
I fixed some indentation