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[fetch] Exclude specific collision-check-pairs to ignore insignificant collisions #1026

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merged 2 commits into from
Jun 26, 2019
Merged

[fetch] Exclude specific collision-check-pairs to ignore insignificant collisions #1026

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0b81567
exclude specific collision-check-pairs to ignore insignificant collis…
708yamaguchi Jan 29, 2019
5748a55
Merge branch 'master' into change-collision-check-pairs
k-okada Jun 5, 2019
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22 changes: 22 additions & 0 deletions jsk_fetch_robot/fetcheus/fetch-utils.l
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Original file line number Diff line number Diff line change
Expand Up @@ -91,4 +91,26 @@
(setf (get self 'rarm-grasping-obj) nil))
(t
)))
(:collision-check-pairs
(&key ((:links ls) (cons (car links) (all-child-links (car links)))))
(let (pairs l neighbors
(exclude-pairs
(list (cons base_link_lk bellows_link2_lk)
(cons base_link_lk bellows_link_lk)
(cons torso_fixed_link_lk torso_lift_link_lk)
(cons torso_fixed_link_lk bellows_link2_lk)
(cons torso_fixed_link_lk bellows_link_lk)
(cons bellows_link2_lk bellows_link_lk)
(cons r_gripper_finger_link_lk l_gripper_finger_link_lk))))
(while (setq l (pop ls))
(setq neighbors (remove nil
(append
(send l :descendants)
(send l :child-links)
(list (send l :parent-link) (send l :parent)))))
(dolist (l2 ls)
(if (and (not (memq l2 neighbors))
(not (member (cons l l2) exclude-pairs :test #'equal)))
(push (cons l l2) pairs))))
pairs))
)