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Nikhil Ambardar
zero
Commits
a3f7822f
Commit
a3f7822f
authored
4 years ago
by
Nikhil Ambardar
Browse files
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Update robot_models_node.cpp
parent
7128f4b8
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src/robot_models_node.cpp
+212
-131
212 additions, 131 deletions
src/robot_models_node.cpp
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212 additions
and
131 deletions
src/robot_models_node.cpp
+
212
−
131
View file @
a3f7822f
...
@@ -54,28 +54,60 @@
...
@@ -54,28 +54,60 @@
world
o9
;
world
o9
;
worldobject
o10
;
worldobject
o10
;
o7
.
jo1
->
name
=
"panda_link1"
;
o5a
.
name
=
"panda_link1"
;
o7
.
jo2
->
name
=
"panda_link2"
;
o5b
.
name
=
"panda_link2"
;
o7
.
jo3
->
name
=
"panda_link3"
;
o5c
.
name
=
"panda_link3"
;
o7
.
jo4
->
name
=
"panda_link4"
;
o5d
.
name
=
"panda_link4"
;
o7
.
jo5
->
name
=
"panda_link5"
;
o5e
.
name
=
"panda_link5"
;
o7
.
jo6
->
name
=
"panda_link6"
;
o5f
.
name
=
"panda_link6"
;
o7
.
jo7
->
name
=
"panda_link7"
;
o5g
.
name
=
"panda_link7"
;
o5a
.
or2
=
{
1.2
,
5.3
,
6.5
,
7.4
};
//o5a.name = "panda_link1";
o5b
.
or2
=
{
2.5
,
3.6
,
5.8
,
4.9
};
//o5b.name = "panda_link2";
o5c
.
or2
=
{
5.1
,
1.2
,
9.9
,
6.8
};
//o5c.name = "panda_link3";
o5d
.
or2
=
{
6.3
,
3.4
,
8.5
,
9.6
};
//o5d.name = "panda_link4";
o5e
.
or2
=
{
8.2
,
2.6
,
7.9
,
5.5
};
//o5e.name = "panda_link5";
o5f
.
or2
=
{
7.3
,
4.4
,
6.7
,
4.0
};
//o5f.name = "panda_link6";
o5g
.
or2
=
{
9.0
,
5.2
,
5.5
,
8.7
};
//o5g.name = "panda_link7";
o5a
.
p1
=
{
1.3
,
10.1
,
9.4
};
o7
.
jo1
->
or2
=
{
1.2
,
5.3
,
6.5
,
7.4
};
o5b
.
p1
=
{
14.7
,
11.3
,
6.5
};
o7
.
jo2
->
or2
=
{
2.5
,
3.6
,
5.8
,
4.9
};
o5c
.
p1
=
{
4.9
,
13.8
,
7.7
};
o7
.
jo3
->
or2
=
{
5.1
,
1.2
,
9.9
,
6.8
};
o5d
.
p1
=
{
2.4
,
12.5
,
1.6
};
o7
.
jo4
->
or2
=
{
6.3
,
3.4
,
8.5
,
9.6
};
o5e
.
p1
=
{
3.1
,
16.2
,
5.3
};
o7
.
jo5
->
or2
=
{
8.2
,
2.6
,
7.9
,
5.5
};
o5f
.
p1
=
{
11.5
,
15.4
,
3.4
};
o7
.
jo6
->
or2
=
{
7.3
,
4.4
,
6.7
,
4.0
};
o5g
.
p1
=
{
5.1
,
18.3
,
4.2
};
o7
.
jo7
->
or2
=
{
7.3
,
4.4
,
6.7
,
4.0
};
//o5a.or2 = {1.2,5.3,6.5,7.4};
//o5b.or2 = {2.5,3.6,5.8,4.9};
//o5c.or2 = {5.1,1.2,9.9,6.8};
//o5d.or2 = {6.3,3.4,8.5,9.6};
//o5e.or2 = {8.2,2.6,7.9,5.5};
//o5f.or2 = {7.3,4.4,6.7,4.0};
//o5g.or2 = {9.0,5.2,5.5,8.7};
//o5a.p1 = {1.3, 10.1, 9.4};
//o5b.p1 = {14.7, 11.3, 6.5};
//o5c.p1 = {4.9, 13.8, 7.7};
//o5d.p1 = {2.4, 12.5, 1.6};
//o5e.p1 = {3.1, 16.2, 5.3};
//o5f.p1 = {11.5, 15.4, 3.4};
//o5g.p1 = {5.1, 18.3, 4.2};
o7
.
jo1
->
p1
=
{
1.3
,
10.1
,
9.4
};
o7
.
jo2
->
p1
=
{
14.7
,
11.3
,
6.5
};
o7
.
jo3
->
p1
=
{
4.9
,
13.8
,
7.7
};
o7
.
jo4
->
p1
=
{
2.4
,
12.5
,
1.6
};
o7
.
jo5
->
p1
=
{
3.1
,
16.2
,
5.3
};
o7
.
jo6
->
p1
=
{
11.5
,
15.4
,
3.4
};
o7
.
jo7
->
p1
=
{
5.1
,
18.3
,
4.2
};
//o5a.p1 = {1.3, 10.1, 9.4};
//o5b.p1 = {14.7, 11.3, 6.5};
//o5c.p1 = {4.9, 13.8, 7.7};
//o5d.p1 = {2.4, 12.5, 1.6};
//o5e.p1 = {3.1, 16.2, 5.3};
//o5f.p1 = {11.5, 15.4, 3.4};
//o5g.p1 = {5.1, 18.3, 4.2};
o9
.
c
->
robname
=
"Robot FPE"
;
o9
.
c
->
robname
=
"Robot FPE"
;
...
@@ -94,7 +126,7 @@
...
@@ -94,7 +126,7 @@
o9
.
b1
->
name
=
"Cube"
;
o9
.
b1
->
name
=
"Cube"
;
o9
.
b1
->
size
=
{
5.2
,
7.5
,
9.1
};
o9
.
b1
->
size
=
{
5.2
,
7.5
,
9.1
};
;
o9
.
b1
->
p1
=
{
13.2
,
14.1
,
17.5
};
o9
.
b1
->
p1
=
{
13.2
,
14.1
,
17.5
};
o9
.
b1
->
x
=
2.3
;
o9
.
b1
->
x
=
2.3
;
...
@@ -135,13 +167,13 @@
...
@@ -135,13 +167,13 @@
geometry_msgs
::
TransformStamped
transformStamped7
;
geometry_msgs
::
TransformStamped
transformStamped7
;
try
{
try
{
transformStamped1
=
tfBuffer
.
lookupTransform
(
"world"
,
o
5a
.
name
,
ros
::
Time
(
0
));
transformStamped1
=
tfBuffer
.
lookupTransform
(
"world"
,
o
7
.
jo1
->
name
,
ros
::
Time
(
0
));
transformStamped2
=
tfBuffer
.
lookupTransform
(
"world"
,
o
5b
.
name
,
ros
::
Time
(
0
));
transformStamped2
=
tfBuffer
.
lookupTransform
(
"world"
,
o
7
.
jo2
->
name
,
ros
::
Time
(
0
));
transformStamped3
=
tfBuffer
.
lookupTransform
(
"world"
,
o
5c
.
name
,
ros
::
Time
(
0
));
transformStamped3
=
tfBuffer
.
lookupTransform
(
"world"
,
o
7
.
jo3
->
name
,
ros
::
Time
(
0
));
transformStamped4
=
tfBuffer
.
lookupTransform
(
"world"
,
o
5d
.
name
,
ros
::
Time
(
0
));
transformStamped4
=
tfBuffer
.
lookupTransform
(
"world"
,
o
7
.
jo4
->
name
,
ros
::
Time
(
0
));
transformStamped5
=
tfBuffer
.
lookupTransform
(
"world"
,
o
5e
.
name
,
ros
::
Time
(
0
));
transformStamped5
=
tfBuffer
.
lookupTransform
(
"world"
,
o
7
.
jo5
->
name
,
ros
::
Time
(
0
));
transformStamped6
=
tfBuffer
.
lookupTransform
(
"world"
,
o
5f
.
name
,
ros
::
Time
(
0
));
transformStamped6
=
tfBuffer
.
lookupTransform
(
"world"
,
o
7
.
jo6
->
name
,
ros
::
Time
(
0
));
transformStamped7
=
tfBuffer
.
lookupTransform
(
"world"
,
o
5g
.
name
,
ros
::
Time
(
0
));
transformStamped7
=
tfBuffer
.
lookupTransform
(
"world"
,
o
7
.
jo7
->
name
,
ros
::
Time
(
0
));
}
catch
(
tf2
::
TransformException
&
ex
)
{
}
catch
(
tf2
::
TransformException
&
ex
)
{
ROS_WARN
(
"%s"
,
ex
.
what
());
ROS_WARN
(
"%s"
,
ex
.
what
());
ros
::
Duration
(
0.1
).
sleep
();
ros
::
Duration
(
0.1
).
sleep
();
...
@@ -149,64 +181,113 @@
...
@@ -149,64 +181,113 @@
}
}
o5a
.
p1
[
0
]
=
0.0
;
o7
.
jo1
->
p1
[
0
]
=
0.0
;
o5a
.
p1
[
1
]
=
0.0
;
o7
.
jo1
->
p1
[
1
]
=
0.0
;
o5a
.
p1
[
2
]
=
0.0
;
o7
.
jo1
->
p1
[
2
]
=
0.0
;
o5b
.
p1
[
0
]
=
0.0
;
o7
.
jo2
->
p1
[
0
]
=
0.0
;
o5b
.
p1
[
1
]
=
0.0
;
o7
.
jo2
->
p1
[
1
]
=
0.0
;
o5b
.
p1
[
2
]
=
0.0
;
o7
.
jo2
->
p1
[
2
]
=
0.0
;
o5c
.
p1
[
0
]
=
0.0
;
o7
.
jo3
->
p1
[
0
]
=
0.0
;
o5c
.
p1
[
1
]
=
0.0
;
o7
.
jo3
->
p1
[
1
]
=
0.0
;
o5c
.
p1
[
2
]
=
0.0
;
o7
.
jo3
->
p1
[
2
]
=
0.0
;
o5d
.
p1
[
0
]
=
0.0
;
o7
.
jo4
->
p1
[
0
]
=
0.0
;
o5d
.
p1
[
1
]
=
0.0
;
o7
.
jo4
->
p1
[
1
]
=
0.0
;
o5d
.
p1
[
2
]
=
0.0
;
o7
.
jo4
->
p1
[
2
]
=
0.0
;
o5e
.
p1
[
0
]
=
0.0
;
o7
.
jo5
->
p1
[
0
]
=
0.0
;
o5e
.
p1
[
1
]
=
0.0
;
o7
.
jo5
->
p1
[
1
]
=
0.0
;
o5e
.
p1
[
2
]
=
0.0
;
o7
.
jo5
->
p1
[
2
]
=
0.0
;
o5f
.
p1
[
0
]
=
0.0
;
o7
.
jo6
->
p1
[
0
]
=
0.0
;
o5f
.
p1
[
1
]
=
0.0
;
o7
.
jo6
->
p1
[
1
]
=
0.0
;
o5f
.
p1
[
2
]
=
0.0
;
o7
.
jo6
->
p1
[
2
]
=
0.0
;
o5g
.
p1
[
0
]
=
0.0
;
o7
.
jo7
->
p1
[
0
]
=
0.0
;
o5g
.
p1
[
1
]
=
0.0
;
o7
.
jo7
->
p1
[
1
]
=
0.0
;
o5g
.
p1
[
2
]
=
0.0
;
o7
.
jo7
->
p1
[
2
]
=
0.0
;
// o5a.p1[0]=0.0;
o5a
.
p1
[
0
]
=
transformStamped1
.
transform
.
translation
.
x
;
// o5a.p1[1]=0.0;
o5a
.
p1
[
1
]
=
transformStamped1
.
transform
.
translation
.
y
;
// o5a.p1[2]=0.0;
o5a
.
p1
[
2
]
=
transformStamped1
.
transform
.
translation
.
z
;
// o5b.p1[0]=0.0;
ROS_INFO_STREAM
(
"panda_link1 Position is "
<<
" x = "
<<
o5a
.
p1
[
0
]
<<
", y = "
<<
o5a
.
p1
[
1
]
<<
", z = "
<<
o5a
.
p1
[
2
]);
//o5b.p1[1]=0.0;
// o5b.p1[2]=0.0;//
o5b
.
p1
[
0
]
=
transformStamped2
.
transform
.
translation
.
x
;
//o5c.p1[0]=0.0;
o5b
.
p1
[
1
]
=
transformStamped2
.
transform
.
translation
.
y
;
// o5c.p1[1]=0.0;
o5b
.
p1
[
2
]
=
transformStamped2
.
transform
.
translation
.
z
;
//o5c.p1[2]=0.0;
ROS_INFO_STREAM
(
"panda_link2 Position is "
<<
" x = "
<<
o5b
.
p1
[
0
]
<<
", y = "
<<
o5b
.
p1
[
1
]
<<
", z = "
<<
o5b
.
p1
[
2
]);
//o5d.p1[0]=0.0;
// o5d.p1[1]=0.0;
o5c
.
p1
[
0
]
=
transformStamped3
.
transform
.
translation
.
x
;
//o5d.p1[2]=0.0;
o5c
.
p1
[
1
]
=
transformStamped3
.
transform
.
translation
.
y
;
//o5e.p1[0]=0.0;
o5c
.
p1
[
2
]
=
transformStamped3
.
transform
.
translation
.
z
;
//o5e.p1[1]=0.0;
ROS_INFO_STREAM
(
"panda_link3 Position is "
<<
" x = "
<<
o5c
.
p1
[
0
]
<<
", y = "
<<
o5c
.
p1
[
1
]
<<
", z = "
<<
o5c
.
p1
[
2
]);
// o5e.p1[2]=0.0;
// o5f.p1[0]=0.0;
o5d
.
p1
[
0
]
=
transformStamped4
.
transform
.
translation
.
x
;
// o5f.p1[1]=0.0;
o5d
.
p1
[
1
]
=
transformStamped4
.
transform
.
translation
.
y
;
//o5f.p1[2]=0.0;
o5d
.
p1
[
2
]
=
transformStamped4
.
transform
.
translation
.
z
;
//o5g.p1[0]=0.0;
ROS_INFO_STREAM
(
"panda_link4 Position is "
<<
" x = "
<<
o5d
.
p1
[
0
]
<<
", y = "
<<
o5d
.
p1
[
1
]
<<
", z = "
<<
o5d
.
p1
[
2
]);
//o5g.p1[1]=0.0;
//o5g.p1[2]=0.0;
o5e
.
p1
[
0
]
=
transformStamped5
.
transform
.
translation
.
x
;
o5e
.
p1
[
1
]
=
transformStamped5
.
transform
.
translation
.
y
;
o7
.
jo1
->
p1
[
0
]
=
transformStamped1
.
transform
.
translation
.
x
;
o5e
.
p1
[
2
]
=
transformStamped5
.
transform
.
translation
.
z
;
o7
.
jo1
->
p1
[
1
]
=
transformStamped1
.
transform
.
translation
.
y
;
ROS_INFO_STREAM
(
"panda_link5 Position is "
<<
" x = "
<<
o5e
.
p1
[
0
]
<<
", y = "
<<
o5e
.
p1
[
1
]
<<
", z = "
<<
o5e
.
p1
[
2
]);
o7
.
jo1
->
p1
[
2
]
=
transformStamped1
.
transform
.
translation
.
z
;
ROS_INFO_STREAM
(
"panda_link1 Position is "
<<
" x = "
<<
o7
.
jo1
->
p1
[
0
]
<<
", y = "
<<
o7
.
jo1
->
p1
[
1
]
<<
", z = "
<<
o7
.
jo1
->
p1
[
2
]);
o5f
.
p1
[
0
]
=
transformStamped6
.
transform
.
translation
.
x
;
o5f
.
p1
[
1
]
=
transformStamped6
.
transform
.
translation
.
y
;
o7
.
jo2
->
p1
[
0
]
=
transformStamped2
.
transform
.
translation
.
x
;
o5f
.
p1
[
2
]
=
transformStamped6
.
transform
.
translation
.
z
;
o7
.
jo2
->
p1
[
1
]
=
transformStamped2
.
transform
.
translation
.
y
;
ROS_INFO_STREAM
(
"panda_link6 Position is "
<<
" x = "
<<
o5f
.
p1
[
0
]
<<
", y = "
<<
o5f
.
p1
[
1
]
<<
", z = "
<<
o5f
.
p1
[
2
]);
o7
.
jo2
->
p1
[
2
]
=
transformStamped2
.
transform
.
translation
.
z
;
ROS_INFO_STREAM
(
"panda_link2 Position is "
<<
" x = "
<<
o7
.
jo2
->
p1
[
0
]
<<
", y = "
<<
o7
.
jo2
->
p1
[
1
]
<<
", z = "
<<
o7
.
jo2
->
p1
[
2
]);
o5g
.
p1
[
0
]
=
transformStamped7
.
transform
.
translation
.
x
;
o5g
.
p1
[
1
]
=
transformStamped7
.
transform
.
translation
.
y
;
o7
.
jo3
->
p1
[
0
]
=
transformStamped3
.
transform
.
translation
.
x
;
o5g
.
p1
[
2
]
=
transformStamped7
.
transform
.
translation
.
z
;
o7
.
jo3
->
p1
[
1
]
=
transformStamped3
.
transform
.
translation
.
y
;
ROS_INFO_STREAM
(
"panda_link7 Position is "
<<
" x = "
<<
o5g
.
p1
[
0
]
<<
", y = "
<<
o5g
.
p1
[
1
]
<<
", z = "
<<
o5g
.
p1
[
2
]);
o7
.
jo3
->
p1
[
2
]
=
transformStamped3
.
transform
.
translation
.
z
;
ROS_INFO_STREAM
(
"panda_link3 Position is "
<<
" x = "
<<
o7
.
jo3
->
p1
[
0
]
<<
", y = "
<<
o7
.
jo3
->
p1
[
1
]
<<
", z = "
<<
o7
.
jo3
->
p1
[
2
]);
o5a
.
or2
.
w
=
0.0
;
o7
.
jo4
->
p1
[
0
]
=
transformStamped4
.
transform
.
translation
.
x
;
o7
.
jo4
->
p1
[
1
]
=
transformStamped4
.
transform
.
translation
.
y
;
o7
.
jo4
->
p1
[
2
]
=
transformStamped4
.
transform
.
translation
.
z
;
ROS_INFO_STREAM
(
"panda_link4 Position is "
<<
" x = "
<<
o7
.
jo4
->
p1
[
0
]
<<
", y = "
<<
o7
.
jo4
->
p1
[
1
]
<<
", z = "
<<
o7
.
jo4
->
p1
[
2
]);
o7
.
jo5
->
p1
[
0
]
=
transformStamped5
.
transform
.
translation
.
x
;
o7
.
jo5
->
p1
[
1
]
=
transformStamped5
.
transform
.
translation
.
y
;
o7
.
jo5
->
p1
[
2
]
=
transformStamped5
.
transform
.
translation
.
z
;
ROS_INFO_STREAM
(
"panda_link5 Position is "
<<
" x = "
<<
o7
.
jo5
->
p1
[
0
]
<<
", y = "
<<
o7
.
jo5
->
p1
[
1
]
<<
", z = "
<<
o7
.
jo5
->
p1
[
2
]);
o7
.
jo6
->
p1
[
0
]
=
transformStamped6
.
transform
.
translation
.
x
;
o7
.
jo6
->
p1
[
1
]
=
transformStamped6
.
transform
.
translation
.
y
;
o7
.
jo6
->
p1
[
2
]
=
transformStamped6
.
transform
.
translation
.
z
;
ROS_INFO_STREAM
(
"panda_link6 Position is "
<<
" x = "
<<
o7
.
jo6
->
p1
[
0
]
<<
", y = "
<<
o7
.
jo6
->
p1
[
1
]
<<
", z = "
<<
o7
.
jo6
->
p1
[
2
]);
o7
.
jo7
->
p1
[
0
]
=
transformStamped7
.
transform
.
translation
.
x
;
o7
.
jo7
->
p1
[
0
]
=
transformStamped7
.
transform
.
translation
.
y
;
o7
.
jo7
->
p1
[
0
]
=
transformStamped7
.
transform
.
translation
.
z
;
ROS_INFO_STREAM
(
"panda_link7 Position is "
<<
" x = "
<<
o7
.
jo7
->
p1
[
0
]
<<
", y = "
<<
o7
.
jo7
->
p1
[
1
]
<<
", z = "
<<
o7
.
jo7
->
p1
[
2
]);
o7
.
jo1
->
or2
.
w
=
0.0
;
o7
.
jo1
->
or2
.
x
=
0.0
;
o7
.
jo1
->
or2
.
y
=
0.0
;
o7
.
jo1
->
or2
.
z
=
0.0
;
o7
.
jo2
->
or2
.
w
=
0.0
;
o7
.
jo2
->
or2
.
x
=
0.0
;
o7
.
jo2
->
or2
.
y
=
0.0
;
o7
.
jo2
->
or2
.
z
=
0.0
;
o7
.
jo3
->
or2
.
w
=
0.0
;
o7
.
jo3
->
or2
.
x
=
0.0
;
o7
.
jo3
->
or2
.
y
=
0.0
;
o7
.
jo3
->
or2
.
z
=
0.0
;
o7
.
jo4
->
or2
.
w
=
0.0
;
o7
.
jo4
->
or2
.
x
=
0.0
;
o7
.
jo4
->
or2
.
y
=
0.0
;
o7
.
jo4
->
or2
.
z
=
0.0
;
o7
.
jo5
->
or2
.
w
=
0.0
;
o7
.
jo5
->
or2
.
x
=
0.0
;
o7
.
jo5
->
or2
.
y
=
0.0
;
o7
.
jo5
->
or2
.
z
=
0.0
;
o7
.
jo6
->
or2
.
w
=
0.0
;
o7
.
jo6
->
or2
.
x
=
0.0
;
o7
.
jo6
->
or2
.
y
=
0.0
;
o7
.
jo6
->
or2
.
z
=
0.0
;
o7
.
jo7
->
or2
.
w
=
0.0
;
o7
.
jo7
->
or2
.
x
=
0.0
;
o7
.
jo7
->
or2
.
y
=
0.0
;
o7
.
jo7
->
or2
.
z
=
0.0
;
/*o5a.or2.w=0.0;
o5a.or2.x=0.0;
o5a.or2.x=0.0;
o5a.or2.y=0.0;
o5a.or2.y=0.0;
o5a.or2.z=0.0;
o5a.or2.z=0.0;
...
@@ -233,49 +314,49 @@
...
@@ -233,49 +314,49 @@
o5g.or2.w=0.0;
o5g.or2.w=0.0;
o5g.or2.x=0.0;
o5g.or2.x=0.0;
o5g.or2.y=0.0;
o5g.or2.y=0.0;
o5g
.
or2
.
z
=
0.0
;
o5g.or2.z=0.0;
*/
o
5a
.
or2
.
w
=
transformStamped1
.
transform
.
rotation
.
w
;
o
7
.
jo1
->
or2
.
w
=
transformStamped1
.
transform
.
rotation
.
w
;
o
5a
.
or2
.
x
=
transformStamped1
.
transform
.
rotation
.
x
;
o
7
.
jo1
->
or2
.
x
=
transformStamped1
.
transform
.
rotation
.
x
;
o
5a
.
or2
.
y
=
transformStamped1
.
transform
.
rotation
.
y
;
o
7
.
jo1
->
or2
.
y
=
transformStamped1
.
transform
.
rotation
.
y
;
o
5a
.
or2
.
z
=
transformStamped1
.
transform
.
rotation
.
z
;
o
7
.
jo1
->
or2
.
z
=
transformStamped1
.
transform
.
rotation
.
z
;
ROS_INFO_STREAM
(
"panda_link1 Orientation is "
<<
" w = "
<<
o
5a
.
or2
.
w
<<
", x = "
<<
o
5a
.
or2
.
x
<<
", y = "
<<
o
5a
.
or2
.
y
<<
", z = "
<<
o
5a
.
or2
.
z
);
ROS_INFO_STREAM
(
"panda_link1 Orientation is "
<<
" w = "
<<
o
7
.
jo1
->
or2
.
w
<<
", x = "
<<
o
7
.
jo1
->
or2
.
x
<<
", y = "
<<
o
7
.
jo1
->
or2
.
y
<<
", z = "
<<
o
7
.
jo1
->
or2
.
z
);
o
5b
.
or2
.
w
=
transformStamped2
.
transform
.
rotation
.
w
;
o
7
.
jo2
->
or2
.
w
=
transformStamped2
.
transform
.
rotation
.
w
;
o
5b
.
or2
.
x
=
transformStamped2
.
transform
.
rotation
.
x
;
o
7
.
jo2
->
or2
.
x
=
transformStamped2
.
transform
.
rotation
.
x
;
o
5b
.
or2
.
y
=
transformStamped2
.
transform
.
rotation
.
y
;
o
7
.
jo2
->
or2
.
y
=
transformStamped2
.
transform
.
rotation
.
y
;
o
5b
.
or2
.
z
=
transformStamped2
.
transform
.
rotation
.
z
;
o
7
.
jo2
->
or2
.
z
=
transformStamped2
.
transform
.
rotation
.
z
;
ROS_INFO_STREAM
(
"panda_link2 Orientation is "
<<
" w = "
<<
o5b
.
or2
.
w
<<
", x = "
<<
o5b
.
or2
.
x
<<
", y = "
<<
o5b
.
or2
.
y
<<
", z = "
<<
o5b
.
or2
.
z
);
ROS_INFO_STREAM
(
"panda_link2 Orientation is "
<<
" w = "
<<
o7
.
jo2
->
or2
.
w
<<
", x = "
<<
o7
.
jo2
->
or2
.
x
<<
", y = "
<<
o7
.
jo2
->
or2
.
y
<<
", z = "
<<
o7
.
jo2
->
or2
.
z
);
o
5c
.
or2
.
w
=
transformStamped3
.
transform
.
rotation
.
w
;
o
7
.
jo3
->
or2
.
w
=
transformStamped3
.
transform
.
rotation
.
w
;
o
5c
.
or2
.
x
=
transformStamped3
.
transform
.
rotation
.
x
;
o
7
.
jo3
->
or2
.
x
=
transformStamped3
.
transform
.
rotation
.
x
;
o
5c
.
or2
.
y
=
transformStamped3
.
transform
.
rotation
.
y
;
o
7
.
jo3
->
or2
.
y
=
transformStamped3
.
transform
.
rotation
.
y
;
o
5c
.
or2
.
z
=
transformStamped3
.
transform
.
rotation
.
z
;
o
7
.
jo3
->
or2
.
z
=
transformStamped3
.
transform
.
rotation
.
z
;
ROS_INFO_STREAM
(
"panda_link3 Orientation is "
<<
" w = "
<<
o
5c
.
or2
.
w
<<
", x = "
<<
o
5c
.
or2
.
x
<<
", y = "
<<
o
5c
.
or2
.
y
<<
", z = "
<<
o
5c
.
or2
.
z
);
ROS_INFO_STREAM
(
"panda_link3 Orientation is "
<<
" w = "
<<
o
7
.
jo3
->
or2
.
w
<<
", x = "
<<
o
7
.
jo3
->
or2
.
x
<<
", y = "
<<
o
7
.
jo3
->
or2
.
y
<<
", z = "
<<
o
7
.
jo3
->
or2
.
z
);
o
5d
.
or2
.
w
=
transformStamped4
.
transform
.
rotation
.
w
;
o
7
.
jo4
->
or2
.
w
=
transformStamped4
.
transform
.
rotation
.
w
;
o
5d
.
or2
.
x
=
transformStamped4
.
transform
.
rotation
.
x
;
o
7
.
jo4
->
or2
.
x
=
transformStamped4
.
transform
.
rotation
.
x
;
o
5d
.
or2
.
y
=
transformStamped4
.
transform
.
rotation
.
y
;
o
7
.
jo4
->
or2
.
y
=
transformStamped4
.
transform
.
rotation
.
y
;
o
5d
.
or2
.
z
=
transformStamped4
.
transform
.
rotation
.
z
;
o
7
.
jo4
->
or2
.
z
=
transformStamped4
.
transform
.
rotation
.
z
;
ROS_INFO_STREAM
(
"panda_link4 Orientation is "
<<
" w = "
<<
o5d
.
or2
.
w
<<
", x = "
<<
o
5d
.
or2
.
x
<<
", y = "
<<
o
5d
.
or2
.
y
<<
", z = "
<<
o
5d
.
or2
.
z
);
ROS_INFO_STREAM
(
"panda_link4 Orientation is "
<<
" w = "
<<
o7
.
jo4
->
or2
.
w
<<
", x = "
<<
o
7
.
jo4
->
or2
.
x
<<
", y = "
<<
o
7
.
jo4
->
or2
.
y
<<
", z = "
<<
o
7
.
jo4
->
or2
.
z
);
o
5e
.
or2
.
w
=
transformStamped5
.
transform
.
rotation
.
w
;
o
7
.
jo5
->
or2
.
w
=
transformStamped5
.
transform
.
rotation
.
w
;
o
5e
.
or2
.
x
=
transformStamped5
.
transform
.
rotation
.
x
;
o
7
.
jo5
->
or2
.
x
=
transformStamped5
.
transform
.
rotation
.
x
;
o
5e
.
or2
.
y
=
transformStamped5
.
transform
.
rotation
.
y
;
o
7
.
jo5
->
or2
.
y
=
transformStamped5
.
transform
.
rotation
.
y
;
o
5e
.
or2
.
z
=
transformStamped5
.
transform
.
rotation
.
z
;
o
7
.
jo5
->
or2
.
z
=
transformStamped5
.
transform
.
rotation
.
z
;
ROS_INFO_STREAM
(
"panda_link5 Orientation is "
<<
" w = "
<<
o
5e
.
or2
.
w
<<
", x = "
<<
o
5e
.
or2
.
x
<<
", y = "
<<
o
5e
.
or2
.
y
<<
", z = "
<<
o
5e
.
or2
.
z
);
ROS_INFO_STREAM
(
"panda_link5 Orientation is "
<<
" w = "
<<
o
7
.
jo5
->
or2
.
w
<<
", x = "
<<
o
7
.
jo5
->
or2
.
x
<<
", y = "
<<
o
7
.
jo5
->
or2
.
y
<<
", z = "
<<
o
7
.
jo5
->
or2
.
z
);
o
5f
.
or2
.
w
=
transformStamped6
.
transform
.
rotation
.
w
;
o
7
.
jo6
->
or2
.
w
=
transformStamped6
.
transform
.
rotation
.
w
;
o
5f
.
or2
.
x
=
transformStamped6
.
transform
.
rotation
.
x
;
o
7
.
jo6
->
or2
.
x
=
transformStamped6
.
transform
.
rotation
.
x
;
o
5f
.
or2
.
y
=
transformStamped6
.
transform
.
rotation
.
y
;
o
7
.
jo6
->
or2
.
y
=
transformStamped6
.
transform
.
rotation
.
y
;
o
5f
.
or2
.
z
=
transformStamped6
.
transform
.
rotation
.
z
;
o
7
.
jo6
->
or2
.
z
=
transformStamped6
.
transform
.
rotation
.
z
;
ROS_INFO_STREAM
(
"panda_link6 Orientation is "
<<
" w = "
<<
o
5f
.
or2
.
w
<<
", x = "
<<
o
5f
.
or2
.
x
<<
", y = "
<<
o
5f
.
or2
.
y
<<
", z = "
<<
o
5f
.
or2
.
z
);
ROS_INFO_STREAM
(
"panda_link6 Orientation is "
<<
" w = "
<<
o
7
.
jo6
->
or2
.
w
<<
", x = "
<<
o
7
.
jo6
->
or2
.
x
<<
", y = "
<<
o
7
.
jo6
->
or2
.
y
<<
", z = "
<<
o
7
.
jo6
->
or2
.
z
);
o
5g
.
or2
.
w
=
transformStamped7
.
transform
.
rotation
.
w
;
o
7
.
jo7
->
or2
.
w
=
transformStamped7
.
transform
.
rotation
.
w
;
o
5g
.
or2
.
x
=
transformStamped7
.
transform
.
rotation
.
x
;
o
7
.
jo7
->
or2
.
x
=
transformStamped7
.
transform
.
rotation
.
x
;
o
5g
.
or2
.
y
=
transformStamped7
.
transform
.
rotation
.
y
;
o
7
.
jo7
->
or2
.
y
=
transformStamped7
.
transform
.
rotation
.
y
;
o
5g
.
or2
.
z
=
transformStamped7
.
transform
.
rotation
.
z
;
o
7
.
jo7
->
or2
.
z
=
transformStamped7
.
transform
.
rotation
.
z
;
ROS_INFO_STREAM
(
"panda_link7 Orientation is "
<<
" w = "
<<
o5g
.
or2
.
w
<<
", x = "
<<
o
5g
.
or2
.
x
<<
", y = "
<<
o
5g
.
or2
.
y
<<
", z = "
<<
o
5g
.
or2
.
z
);
ROS_INFO_STREAM
(
"panda_link7 Orientation is "
<<
" w = "
<<
o7
.
jo7
->
or2
.
w
<<
", x = "
<<
o
7
.
jo7
->
or2
.
x
<<
", y = "
<<
o
7
.
jo7
->
or2
.
y
<<
", z = "
<<
o
7
.
jo7
->
or2
.
z
);
}
}
rate
.
sleep
();
rate
.
sleep
();
...
...
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