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[baxtereus] Compute IK from prepared poses (using :ik-prepared-poses methods) #602

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merged 3 commits into from May 13, 2016

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commented May 13, 2016

For start-jsk/jsk_apc#1460 (comment) #593 (comment)

:ik-prepared-poses is for scalability in the child class of baxter-robot.

@k-okada k-okada merged commit a530df1 into jsk-ros-pkg:master May 13, 2016

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@wkentaro wkentaro deleted the wkentaro:util-ik branch May 13, 2016

@wkentaro wkentaro referenced this pull request May 14, 2016

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1.0.6 release, please. #606

(send self :joint-list) av)
(setq r (send-super* :inverse-kinematics target-coords :avoid-collision-distance avoid-collision-distance :warnp nil :dump-command nil args))
(av (mapcar #'(lambda (j) (send j :joint-angle)) (send self :joint-list)))
(ik-prepared-poses (if (memq :ik-prepared-poses (send self :methods)) (send self :ik-prepared-poses) '(:untuck-pose))))

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k-okada May 16, 2016

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you can use (find-method self :ik-prepared-poses)

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