{"action":"created","issue":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/303","labels_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/303/labels{/name}","comments_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/303/comments","events_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/303/events","html_url":"https://github.com/jsk-ros-pkg/jsk_robot/issues/303","id":71545197,"number":303,"title":"Baxterの腕がヘッドとコリジョンする","user":{"login":"aginika","id":3803922,"avatar_url":"https://avatars.githubusercontent.com/u/3803922?v=3","gravatar_id":"","url":"https://api.github.com/users/aginika","html_url":"https://github.com/aginika","followers_url":"https://api.github.com/users/aginika/followers","following_url":"https://api.github.com/users/aginika/following{/other_user}","gists_url":"https://api.github.com/users/aginika/gists{/gist_id}","starred_url":"https://api.github.com/users/aginika/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aginika/subscriptions","organizations_url":"https://api.github.com/users/aginika/orgs","repos_url":"https://api.github.com/users/aginika/repos","events_url":"https://api.github.com/users/aginika/events{/privacy}","received_events_url":"https://api.github.com/users/aginika/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":16,"created_at":"2015-04-28T10:13:58Z","updated_at":"2015-05-01T06:23:27Z","closed_at":null,"body":"ので、以下のようにcollision-avoidance-link-pairを設定したらエラーがでます。\r\nどうするのが適切でしょうか？\r\nheadとelbowが当たらないようにしたいです。\r\n```\r\n(baxter-init)\r\n(objects (list *baxter*))\r\n(send *baxter* :larm :inverse-kinematics (make-coords :pos #f(500 100 500)) :debug-view t :collision-avoidance-link-pair (list (list (elt (send *baxter* :head) 0) (send *baxter* :larm :elbow-p :child-link)))\r\n```\r\nが\r\n```\r\nloop:   1\r\nunion-link-list: (left_upper_shoulder left_lower_shoulder left_upper_elbow left_lower_elbow left_upper_forearm left_lower_forearm left_wrist)\r\nmove-target: (#<cascaded-coords #X8a48568 :larm-end-coords  708.974 522.351 180.297 / -1.129 0.56 -1.936>)\r\ntarge-coordst: (#<coordinates #X911cce0  500.0 100.0 500.0 / 0.0 0.0 0.0>)\r\nvel-pos : 13.644 -46.751 -87.339 \r\nvel-rot :  0.360  -0.342   0.061 \r\nvel-pos-norm : 100.000/  1.000\r\nvel-rot-norm :   0.500/  0.017\r\nangle :   20.0   -25.0   -40.0    60.0   -20.0    80.0     0.0 \r\n min  :  -97.5  -123.0  -175.0    -2.9  -175.3   -90.0  -175.3 \r\n max  :   97.5    60.0   175.0   150.0   175.3   120.0   175.3 \r\nusrwei:  1.000   1.000   1.000   1.000   1.000   1.000   1.000 \r\nocost :100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 100000000000000000000.000 \r\ncost  :  0.263   0.090   0.167   0.284   0.077   1.778   0.000 \r\nweight:  1.000   1.000   1.000   1.000   1.000   1.000   1.000 \r\nk     :  0.000 (manipulability:  0.118, gain:  0.001, limit:  0.100, len:7)\r\n;; ERROR : (car pair) is not included in link-list (head left_lower_elbow)\r\n/opt/ros/hydro/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: integer expected in (right_w2_jt . #<rotational-joint #X6a45350 right_w2>)\r\n\r\n```\r\nとなってしまいます。\r\n"},"comment":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/comments/98057529","html_url":"https://github.com/jsk-ros-pkg/jsk_robot/issues/303#issuecomment-98057529","issue_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/303","id":98057529,"user":{"login":"k-okada","id":493276,"avatar_url":"https://avatars.githubusercontent.com/u/493276?v=3","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"created_at":"2015-05-01T06:23:27Z","updated_at":"2015-05-01T06:23:27Z","body":"これできたんだっけ？いずれにせよ，できたら，\nhttps://github.com/euslisp/jskeus/blob/master/irteus/irtmodel.l#L1209\nに説明をいれておいてください．\nhttps://github.com/euslisp/jskeus/blob/master/irteus/irtmodel.l#L1087\nなかんじ．これがあれば，自動で，\nhttp://euslisp.github.io/jskeus/\nと\nhttp://euslisp-docs.readthedocs.org/en/latest/jskeus/jmanual/\nにでてきます．\n\n--\n◉ Kei Okada\n\n\nOn Wed, Apr 29, 2015 at 10:36 PM, Yuto Inagaki <notifications@github.com>\nwrote:\n\n> 以下のような継承クラスを作ったのですが、\n> まだだめです・・・\n>\n> (defclass baxter-robot-safe\n>   :super baxter-robot\n>   :slots ())\n> (defmethod baxter-robot-safe\n>   (:init (&rest args)\n>          (send-super* :init args)\n>          (setq collision-avoidance-links (list (send self :screen_lk)\n>                                                (send self :larm :wrist-p :child-link)\n>                                                (send self :larm :elbow-p :child-link)\n>                                                (send self :larm :elbow-r :child-link)\n>                                                (send self :rarm :wrist-p :child-link)\n>                                                (send self :rarm :elbow-p :child-link)\n>                                                (send self :rarm :elbow-r :child-link)))\n>          )\n>   )\n>\n> (defun baxter-init-safe ()\n>   (if (not (boundp '*ri*))\n>       (setq *ri* (instance baxter-interface :init)))\n>   (if (not (boundp '*baxter*))\n>       (setq *baxter* (instance baxter-robot-safe :init)))\n>   (send *ri* :calib-grasp :arms)\n>   )\n>\n>\n> —\n> Reply to this email directly or view it on GitHub\n> <https://github.com/jsk-ros-pkg/jsk_robot/issues/303#issuecomment-97428411>\n> .\n>\n"}}