How to use SetupCollisionPair

[k-okada]

SetupCollisionPair is the tool to automatically calculate possible collision pair, you need three terminal to run.

$ rosrun openhrp3 start_omninames.sh
$ rosrun openhrp3 openhrp-model-loader 
$ SetupCollisionPair --model `rospack find hironx_ros_bridge`/models/kawada-hironx.dae 

This will takes several tens of minutes and get collision pair files

$ cat /tmp/HiroNXcollision_pair.conf
collision_pair: RARM_JOINT1:RARM_JOINT3 RARM_JOINT1:RARM_JOINT4 RARM_JOINT3:RARM_JOINT5 RARM_JOINT3:RHAND_JOINT0 RARM_JOINT4:RHAND_JOINT0 RARM_JOINT4:RHAND_JOINT1 RARM_JOINT4:RHAND_JOINT2 RARM_JOINT4:RHAND_JOINT3 RARM_JOINT5:RHAND_JOINT3 RHAND_JOINT0:RHAND_JOINT2 LARM_JOINT1:LARM_JOINT3 LARM_JOINT1:LARM_JOINT4 LARM_JOINT3:LARM_JOINT5 LARM_JOINT3:LHAND_JOINT2 LARM_JOINT4:LHAND_JOINT0 LARM_JOINT4:LHAND_JOINT1 LARM_JOINT4:LHAND_JOINT2 LARM_JOINT4:LHAND_JOINT3 LARM_JOINT5:LHAND_JOINT1 LHAND_JOINT0:LHAND_JOINT2 RHAND_JOINT3:LHAND_JOINT1 RHAND_JOINT3:LHAND_JOINT3 RHAND_JOINT1:LHAND_JOINT3 RHAND_JOINT1:LHAND_JOINT1 RHAND_JOINT0:LHAND_JOINT3 RHAND_JOINT2:LHAND_JOINT3 RHAND_JOINT2:LHAND_JOINT1 RHAND_JOINT3:LHAND_JOINT0 RHAND_JOINT3:LHAND_JOINT2 RHAND_JOINT1:LHAND_JOINT2 RHAND_JOINT1:LHAND_JOINT0 RHAND_JOINT0:LHAND_JOINT1 RHAND_JOINT1:LARM_JOINT5 RARM_JOINT5:LHAND_JOINT1 RARM_JOINT5:LHAND_JOINT3 RHAND_JOINT3:LARM_JOINT5 RHAND_JOINT2:LHAND_JOINT2 RHAND_JOINT0:LHAND_JOINT2 RHAND_JOINT0:LHAND_JOINT0 RHAND_JOINT2:LHAND_JOINT0 RARM_JOINT5:LHAND_JOINT2 RHAND_JOINT1:LARM_JOINT4 RHAND_JOINT0:LARM_JOINT5 RHAND_JOINT2:LARM_JOINT5 RARM_JOINT4:LHAND_JOINT1 RARM_JOINT4:LHAND_JOINT3 RHAND_JOINT3:LARM_JOINT4 RARM_JOINT5:LHAND_JOINT0 RHAND_JOINT2:LARM_JOINT4 RHAND_JOINT0:LARM_JOINT4 RHAND_JOINT3:LARM_JOINT3 RARM_JOINT3:LHAND_JOINT1 RARM_JOINT3:LHAND_JOINT3 RARM_JOINT5:LARM_JOINT5 RARM_JOINT4:LHAND_JOINT2 RARM_JOINT4:LHAND_JOINT0 RHAND_JOINT1:LARM_JOINT3 RARM_JOINT3:LHAND_JOINT2 RHAND_JOINT3:LARM_JOINT2 RHAND_JOINT0:LARM_JOINT3 RARM_JOINT2:LHAND_JOINT3 RARM_JOINT2:LHAND_JOINT1 RARM_JOINT5:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT3:LHAND_JOINT0 RHAND_JOINT1:LARM_JOINT2 RHAND_JOINT2:LARM_JOINT3 HEAD_JOINT1:RHAND_JOINT3 HEAD_JOINT1:RHAND_JOINT1 RARM_JOINT4:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RHAND_JOINT1:LARM_JOINT1 HEAD_JOINT1:LHAND_JOINT1 HEAD_JOINT1:LHAND_JOINT3 RARM_JOINT5:LARM_JOINT3 RHAND_JOINT3:LARM_JOINT1 RARM_JOINT1:LHAND_JOINT1 RHAND_JOINT0:LARM_JOINT2 RARM_JOINT1:LHAND_JOINT3 RARM_JOINT2:LHAND_JOINT2 RARM_JOINT2:LHAND_JOINT0 RHAND_JOINT2:LARM_JOINT2 RHAND_JOINT0:LARM_JOINT1 RARM_JOINT1:LHAND_JOINT0 RARM_JOINT2:LARM_JOINT5 RHAND_JOINT2:LARM_JOINT1 RARM_JOINT5:LARM_JOINT2 RARM_JOINT3:LARM_JOINT4 RARM_JOINT4:LARM_JOINT3 RARM_JOINT1:LHAND_JOINT2 HEAD_JOINT1:RHAND_JOINT2 HEAD_JOINT1:RHAND_JOINT0 HEAD_JOINT1:LHAND_JOINT0 HEAD_JOINT1:LHAND_JOINT2 HEAD_JOINT1:RARM_JOINT5 WAIST:LHAND_JOINT1 RARM_JOINT2:LARM_JOINT4 RARM_JOINT1:LARM_JOINT5 RARM_JOINT3:LARM_JOINT3 WAIST:RHAND_JOINT3 WAIST:LHAND_JOINT3 WAIST:RHAND_JOINT1 HEAD_JOINT1:LARM_JOINT5 RARM_JOINT5:LARM_JOINT1 RARM_JOINT4:LARM_JOINT2 CHEST_JOINT0:RHAND_JOINT1 CHEST_JOINT0:RHAND_JOINT3 WAIST:LHAND_JOINT0 RARM_JOINT4:LARM_JOINT1 CHEST_JOINT0:LHAND_JOINT1 CHEST_JOINT0:LHAND_JOINT3 WAIST:LHAND_JOINT2 RARM_JOINT3:LARM_JOINT2 RARM_JOINT1:LARM_JOINT4 WAIST:RHAND_JOINT0 HEAD_JOINT1:LARM_JOINT4 WAIST:RHAND_JOINT2 HEAD_JOINT1:RARM_JOINT4 RARM_JOINT2:LARM_JOINT3 CHEST_JOINT0:RHAND_JOINT2 LARM_JOINT0:LHAND_JOINT3 CHEST_JOINT0:LHAND_JOINT0 RARM_JOINT0:RHAND_JOINT3 RARM_JOINT0:RHAND_JOINT1 CHEST_JOINT0:RHAND_JOINT0 WAIST:RARM_JOINT5 CHEST_JOINT0:LHAND_JOINT2 LARM_JOINT0:LHAND_JOINT1 HEAD_JOINT1:LARM_JOINT3 RARM_JOINT1:LARM_JOINT3 RARM_JOINT3:LARM_JOINT1 HEAD_JOINT1:RARM_JOINT3 RARM_JOINT2:LARM_JOINT2 WAIST:LARM_JOINT5 LARM_JOINT1:LHAND_JOINT1 LARM_JOINT1:LHAND_JOINT3 CHEST_JOINT0:RARM_JOINT5 WAIST:RARM_JOINT4 WAIST:LARM_JOINT4 RARM_JOINT0:RHAND_JOINT2 RARM_JOINT1:RHAND_JOINT1 RARM_JOINT1:RHAND_JOINT3 HEAD_JOINT1:LARM_JOINT2 RARM_JOINT0:RHAND_JOINT0 RARM_JOINT1:LARM_JOINT2 HEAD_JOINT1:RARM_JOINT2 RARM_JOINT2:LARM_JOINT1 LARM_JOINT0:LHAND_JOINT0 LARM_JOINT0:LHAND_JOINT2 CHEST_JOINT0:LARM_JOINT5 LARM_JOINT2:LHAND_JOINT3 LARM_JOINT1:LHAND_JOINT0 LARM_JOINT2:LHAND_JOINT1 LARM_JOINT0:LARM_JOINT5 LARM_JOINT1:LHAND_JOINT2 RARM_JOINT2:RHAND_JOINT1 HEAD_JOINT1:RARM_JOINT1 HEAD_JOINT1:LARM_JOINT1 HEAD_JOINT0:LARM_JOINT2 RARM_JOINT0:RARM_JOINT5 HEAD_JOINT0:RARM_JOINT2 CHEST_JOINT0:LARM_JOINT4 RARM_JOINT1:RHAND_JOINT0 RARM_JOINT1:RHAND_JOINT2 RARM_JOINT1:LARM_JOINT1 CHEST_JOINT0:RARM_JOINT4 RARM_JOINT2:RHAND_JOINT3 WAIST:LARM_JOINT3 WAIST:RARM_JOINT3 WAIST:RARM_JOINT2 LARM_JOINT0:LARM_JOINT4 LARM_JOINT3:LHAND_JOINT3 LARM_JOINT3:LHAND_JOINT1 LARM_JOINT2:LHAND_JOINT2 WAIST:LARM_JOINT2 LARM_JOINT2:LHAND_JOINT0 LARM_JOINT1:LARM_JOINT5 CHEST_JOINT0:LARM_JOINT3 HEAD_JOINT1:RARM_JOINT0 CHEST_JOINT0:RARM_JOINT3 RARM_JOINT3:RHAND_JOINT3 RARM_JOINT3:RHAND_JOINT1 RARM_JOINT2:RHAND_JOINT2 RARM_JOINT2:RHAND_JOINT0 HEAD_JOINT1:LARM_JOINT0 RARM_JOINT1:RARM_JOINT5 RARM_JOINT0:RARM_JOINT4 LARM_JOINT1:LARM_JOINT4 LARM_JOINT4:LHAND_JOINT3 LARM_JOINT4:LHAND_JOINT1 RARM_JOINT4:RHAND_JOINT3 LARM_JOINT3:LHAND_JOINT2 RARM_JOINT4:RHAND_JOINT1 RARM_JOINT3:RHAND_JOINT0 RARM_JOINT1:RARM_JOINT4 LARM_JOINT3:LARM_JOINT5 RARM_JOINT4:RHAND_JOINT2 RARM_JOINT4:RHAND_JOINT0 LARM_JOINT4:LHAND_JOINT0 LARM_JOINT4:LHAND_JOINT2 RARM_JOINT3:RARM_JOINT5 LARM_JOINT5:LHAND_JOINT1 RARM_JOINT1:RARM_JOINT3 RARM_JOINT5:RHAND_JOINT3 LARM_JOINT1:LARM_JOINT3

you can copy and paste this file to hironx_ ros_bridge/conf/conf.in and run catkin bt --start-with-this -vi to re-generate kawada-hironx.conf

If you successfully reconfigure files, you'll see following message when you start hironx_startup.launch

[co] prop[collision_pair] ->RARM_JOINT1:RARM_JOINT3 RARM_JOINT1:RARM_JOINT4 RARM_JOINT3:RARM_JOINT5 RARM_JOINT3:RHAND_JOINT0 RARM_JOINT4:RHAND_JOINT0 RARM_JOINT4:RHAND_JOINT1 RARM_JOINT4:RHAND_......
[co] check collisions between RARM_JOINT1 and RARM_JOINT3
[co] check collisions between RARM_JOINT1 and RARM_JOINT4
[co] check collisions between RARM_JOINT3 and RARM_JOINT5
[co] check collisions between RARM_JOINT3 and RHAND_JOINT0
[co] check collisions between RARM_JOINT4 and RHAND_JOINT0
[co] check collisions between RARM_JOINT4 and RHAND_JOINT1

if you run openhrp3, you'll see

[rosrun] You have chosen a non-unique executable, please pick one of the following:
1) /opt/ros/indigo/lib/openhrp3/openhrp-model-loader
2) /opt/ros/indigo/share/openhrp3/openhrp-model-loader

there are same file so you can choose either of them.

Cc: @YoheiKakiuchi @yswhynot