diff --git a/script/dynamic/log.txt b/script/dynamic/log.txt new file mode 100644 index 0000000000000000000000000000000000000000..679de40b2092202ea8f1ee2e91a9018923d508ab --- /dev/null +++ b/script/dynamic/log.txt @@ -0,0 +1,2400 @@ +CORBA: POA child already exists. +CORBA: Create POA: name = rbprmChild +BODY +CHEST_LINK0 +HEAD_LINK0 +HEAD_LINK1 +base_link +torso +Scaling image '/home/stonneau/dev/hpp/install/share/hrp2_14_description/meshes/emblem.gif' from (500,500) to (512,512) +base_link +Creating face +Creating face +Creating face +Creating face +List of Nodes in group :0_scene_hpp_ + hrp2_trunk_flexible + Vec_Velocity + Vec_Acceleration + planning +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +Creating face +List of Nodes in group :0_scene_hpp_ + Support + hrp2_trunk_flexible + Vec_Velocity + Vec_Acceleration + planning +No Node named "hrp2_trunk_flexible/" +seed = 1487774757 +Error : you need at least 11 extra DOF +Error : you need at least 22 extra DOF +here +No Node named "hrp2_trunk_flexible/" +[33m[ WARN] [1487774757.333337501]: Group 'r_arm' is empty.[0m +[33m[ WARN] [1487774757.333378240]: Group 'l_arm' is empty.[0m +[33m[ WARN] [1487774757.333401940]: Group 'r_leg' is empty.[0m +[33m[ WARN] [1487774757.333424183]: Group 'l_leg' is empty.[0m +[33m[ WARN] [1487774757.333848631]: Link 'Accelerometer' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333857147]: Link 'Gyro' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333869391]: Link 'camera_bottom_left' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333877262]: Link 'camera_bottom_left' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333884984]: Link 'camera_bottom_right' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333892361]: Link 'camera_bottom_right' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333899673]: Link 'camera_top_left' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333906996]: Link 'camera_top_left' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333914284]: Link 'camera_top_right' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333921344]: Link 'camera_top_right' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333928658]: Link 'gaze' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333952246]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333959426]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333976277]: Link 'l_gripper' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.333993914]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334003592]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334020098]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334035616]: Link 'LeftHandForceSensor' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334047001]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334054035]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334069824]: Link 'r_gripper' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334078213]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334085307]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334092273]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334099763]: Link 'RightHandForceSensor' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334113490]: Link 'LeftFootForceSensor' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334121173]: Link 'l_sole' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334136514]: Link 'RightFootForceSensor' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334144165]: Link 'r_sole' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334155274]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334162518]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334169708]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334176741]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334183578]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334190383]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334197187]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334227033]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334234728]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334241681]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334248575]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334255435]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334351413]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334359409]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334366794]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334389397]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334396548]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334403729]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334410766]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334417811]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334431560]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334438720]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334445777]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334452738]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334459689]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334476489]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334483457]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334490377]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334497338]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334504190]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334518947]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334526082]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334533051]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334539969]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334546824]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334557908]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334567707]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334579078]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334586006]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334592959]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334599848]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334606652]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334613577]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334620544]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334635808]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334643217]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334694459]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334702496]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334709883]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334717010]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334724085]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334734849]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334742013]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334749037]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334756133]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334763126]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334772023]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334779142]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334786136]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334793335]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334800449]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334807709]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334814898]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334848178]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334855654]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334862846]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334870021]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334877058]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334893551]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334900980]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334908036]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334914966]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334922026]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334934844]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334941869]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334948787]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334955761]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334962835]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334977230]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334984424]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334991495]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.334998567]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335013466]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335025667]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335033022]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335040162]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335047347]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335054493]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335065398]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335072619]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335079880]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335087028]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335094262]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335106787]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335114005]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335121039]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335128066]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335135161]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335148908]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335156428]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335163785]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335170953]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335178189]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335191565]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335198840]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335205942]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335212972]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335219970]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335226964]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335236809]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335243921]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335250975]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335257968]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335264910]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335273867]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335281007]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335288075]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335295078]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335302106]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335312838]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335327089]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335334397]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335341562]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335348714]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335357757]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335364856]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335371865]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335378795]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335385838]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335392725]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335399645]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335406666]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335413682]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335420673]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335427667]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335434571]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335441460]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335448472]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335455447]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335462347]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335469225]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335476113]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335483034]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335490095]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335497288]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335504446]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335511478]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335518394]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335525225]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335532047]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335538944]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335545777]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335552744]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335559691]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335566553]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335573473]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335580312]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335587128]: Link 'RHAND_LINK1' is not known to URDFBODY +CHEST_LINK0 +HEAD_LINK0 +HEAD_LINK1 +LARM_LINK0 +LARM_LINK1 +LARM_LINK2 +LARM_LINK3 +LARM_LINK4 +LARM_LINK6 +LLEG_LINK0 +LLEG_LINK1 +LLEG_LINK2 +LLEG_LINK3 +LLEG_LINK4 +RARM_LINK0 +RARM_LINK1 +RARM_LINK2 +RARM_LINK3 +RARM_LINK4 +RARM_LINK6 +RLEG_LINK0 +RLEG_LINK1 +RLEG_LINK2 +RLEG_LINK3 +RLEG_LINK4 +base_link +l_ankle +l_wrist +r_ankle +r_wrist +torso +Scaling image '/home/stonneau/dev/hpp/install/share/hrp2_14_description/meshes/emblem.gif' from (500,500) to (512,512) +No Node named "hrp2_14/" +No Node named "hrp2_14/" +No Node named "hrp2_14/" +No Node named "hrp2_14/" +. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335600863]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335608013]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335615025]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335622001]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335628934]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335635958]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335642875]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335649767]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335656617]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335663477]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335670714]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335677905]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335685124]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335692300]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335699371]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335706346]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335716217]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335723227]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335732191]: Link 'RHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335741775]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335748943]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335759518]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335766543]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335775453]: Link 'LHAND_LINK1' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335782543]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335789554]: Link 'LHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335814533]: Link 'RHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335821669]: Link 'RHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335828747]: Link 'RHAND_LINK4' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335835936]: Link 'LHAND_LINK2' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335842993]: Link 'LHAND_LINK3' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335849914]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335856851]: Link 'LHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335863668]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335870525]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +[33m[ WARN] [1487774757.335877413]: Link 'RHAND_LINK0' is not known to URDF. Cannot disable collisons.[0m +is stable 6.64489 +is stable -58.0026 +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_rarm_rom +try to add contact hrp2_rarm_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +GE OUT +contact candidates +candiddates +candidate hrp2_rleg_rom +try to add contact hrp2_rleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +Contact repositionning occured 1 +(successes) 124 +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +empty LIST, NOT STABLE +contact candidates +candiddates +candidate hrp2_lleg_rom +try to add contact hrp2_lleg_rom0 +success +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +set col free other limb +success ? 1 +MAINTAIN SUCCESS + +contact candidates +candiddates +state VALID no new contacts +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_lleg_rom +candidate hrp2_rleg_rom +trying to maintain +candiddates +candidate hrp2_rarm_rom +candidate hrp2_rleg_rom +Contact repositionning occured 2 +(successes) 148 +Node "toto" doesn't exist. +No Node named "hrp2_14/" +No Node named "hrp2_14/" +No Node named "hrp2_14/" +No Node named "hrp2_14/" +No Node named "hrp2_14/" +Python 2.7.6 (default, Oct 26 2016, 20:30:19) +Type "copyright", "credits" or "license" for more information. + +IPython 1.2.1 -- An enhanced Interactive Python. +? -> Introduction and overview of IPython's features. +%quickref -> Quick reference. +help -> Python's own help system. +object? -> Details about 'object', use 'object??' for extra details. +No values found for velocity and acceleration bounds, use 1 by default +number of configs : 6 diff --git a/script/dynamic/run.sh b/script/dynamic/run.sh new file mode 100755 index 0000000000000000000000000000000000000000..c249455bcb37f8e2ae1c60795925cc6660ab54f3 --- /dev/null +++ b/script/dynamic/run.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +gepetto-viewer-server & +hpp-rbprm-server & +ipython -i --no-confirm-exit ./$1 + +pkill -f 'gepetto-viewer-server' +pkill -f 'hpp-rbprm-server' diff --git a/script/dynamic/sideWall_hyq_interpKino.py b/script/dynamic/sideWall_hyq_interpKino.py index 1436bc0806acfce6bc3da0a28dc061b3f4547d6c..14fe3f2f754c5674af52e843e46a8447e9977a9f 100644 --- a/script/dynamic/sideWall_hyq_interpKino.py +++ b/script/dynamic/sideWall_hyq_interpKino.py @@ -45,10 +45,10 @@ lLegId = 'lhleg' rarmId = 'rhleg' larmId = 'lfleg' -addLimbDb(rLegId, "EFORT_Normal") -addLimbDb(lLegId, "EFORT_Normal") -addLimbDb(rarmId, "EFORT_Normal") -addLimbDb(larmId, "EFORT_Normal") +addLimbDb(rLegId, "manipulability") +addLimbDb(lLegId, "manipulability") +addLimbDb(rarmId, "manipulability") +addLimbDb(larmId, "manipulability") q_0 = fullBody.getCurrentConfig(); q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.ps.configAtParam(0,0.01)[0:7] # use this to get the correct orientation @@ -81,7 +81,8 @@ fullBody.setEndState(q_goal,[larmId,rLegId,rarmId,lLegId]) r(q_init) # computing the contact sequence -configs = fullBody.interpolate(0.08,pathId=1,robustnessTreshold = 2, filterStates = True) +#~ configs = fullBody.interpolate(0.08,pathId=1,robustnessTreshold = 2, filterStates = True) +configs = fullBody.interpolate(0.001,pathId=1,robustnessTreshold = 2, filterStates = True) print "number of configs =", len(configs) @@ -93,10 +94,10 @@ pp = PathPlayer (fullBody.client.basic, r) from fullBodyPlayer import Player player = Player(fullBody,pp,tp,configs,draw=True,optim_effector=False,use_velocity=dynamic,pathId = 1) -#player.displayContactPlan() +player.displayContactPlan() -r(configs[15]) -player.interpolate(10,100) +#~ r(configs[15]) +#~ player.interpolate(10,100) #player.play() diff --git a/script/dynamic/sideWall_hyq_pathKino.py b/script/dynamic/sideWall_hyq_pathKino.py index 228dccdf616f827900e2da4c3daaeb56cb0ce0ce..9dc9fb069c1f6cfc228b7a4c5dff3c25ae173b96 100644 --- a/script/dynamic/sideWall_hyq_pathKino.py +++ b/script/dynamic/sideWall_hyq_pathKino.py @@ -9,6 +9,7 @@ rootJointType = 'freeflyer' packageName = 'hpp-rbprm-corba' meshPackageName = 'hpp-rbprm-corba' # URDF file describing the trunk of the robot HyQ +#~ urdfName = 'hyq_trunk_large' urdfName = 'hyq_trunk_large' # URDF files describing the reachable workspace of each limb of HyQ urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom'] @@ -52,7 +53,7 @@ r.addLandmark(r.sceneName,1) q_init = rbprmBuilder.getCurrentConfig (); q_init [0:3] = [1, 0, 0.8]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) q_goal = q_init [::] -q_goal [0:3] = [5.5, 0, 0.8] +q_goal [0:3] = [5.5, 0, 0.9] #q_goal[0:3]=[3,-4,0.4]#position easy #q_goal[7:10]=[0,0,0]#velocity r (q_goal)