I'm now facing a new issue in my implementation of the manipulation stack: the collisions between the object I just picked up (which is correctly attached to the hand) and the environment don't seem to be computed.
I'm placing my object directly on top of another object and I don't get any collisions, though I'm getting collisions between the hand and the collision map if I try to place the object at a position where the hand would be in collision with the environment.
PS: here is a link to a screencast I made to show the current status of my implementation of this stack.
More details regarding my questions: The collision_support_surface_name is definitely "table". I uploaded a new video to try to better show the problem I'm having with the collision.
In this video you can ignore the small orange/yellow spheres in rviz: it's a work in progress, but I'm just sending a list of targets to the place action and I'm (badly) displaying the grid for this list of targets.
As you can see there's no collision found between the object lying on the table and the attached object.
If I check the DEBUG messages, I can see lots of allowed collisions (between the attached body and the hand mostly), but none between the attached body and the other objects or the table. The collisions between the hand and the unattached body / environments are found.
Post score: 2
Comment by mmwise on 2011-02-17:
when you see an answer you like, mark it as an accepted answer