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[WIP] Add pinching with gripper-v6#2160

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pazeshun wants to merge 18 commits intostart-jsk:masterstart-jsk/jsk_apc:masterfrom pazeshun:add-pinchingpazeshun/jsk_apc:add-pinchingCopy head branch name to clipboard

+479-130

Commits

Commits on Jun 20, 2017

• Add hand interface methods

  pazeshun

  committed
  5ae4e29

• Add :wait-interpolation-until

  pazeshun

  committed
  e7cf7f9

• Enable to set palm endpoint as move-target in IK

  pazeshun

  committed
  ab9eade

• Stop using one-shot-subscribe in gripper sensors

  pazeshun

  committed
  b2e7c01

• Consider pinching in :graspingp

  pazeshun

  committed
  da5ae0a

• Enable :start-grasp and :stop-grasp to move hand

  pazeshun

  committed
  98cdedb

• Translate palm end for good cylindrical grasp

  pazeshun

  committed
  76bea05

• try-to-pick-object -> try-to-suction-object

  pazeshun

  committed
  239e479

• Add :try-to-pinch-object and use it

  pazeshun

  committed
  e856cc1

• Add :prismatic-loaded in :wait-interpolation-until

  pazeshun

  committed
  0020f20

• Use prismatic-loaded to detect pushing object

  pazeshun

  committed
  7db4bd3

• Add set-grasp-style state in stow

  pazeshun

  committed
  9b17359

Commits on Jun 21, 2017

• Add set-grasp-style state in pick

  pazeshun

  committed
  353cc07

• Wait longer for :interpolatingp

  pazeshun

  committed
  5ad8b0e

• Add check-grasp-style state in pick task

  pazeshun

  committed
  20a74f8

Commits on Jun 22, 2017

• Decide pinching direction depending on bbox size

  pazeshun

  committed
  15a5095

• :hand -> :pinch

  pazeshun

  committed
  cc01d74

• Speed up return-from-pick-object

  pazeshun

  committed
  833f3d0