Fix pick+place tutorial: allow collision of object with coarse hand model (#741)

Author: rhaschke

.github/workflows/ci.yaml

@@ -8,6 +8,9 @@ on:
   pull_request:
   push:
 
+permissions:
+  contents: read # to fetch code (actions/checkout)
+
 jobs:
   ci:
     strategy:
@@ -25,38 +28,41 @@ jobs:
     name: ${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
-      - name: cache target_ws
-        uses: pat-s/always-upload-cache@v2.1.5
+      - name: Cache target workspace
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: target_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+      - name: Cache ccache
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}
 
-      - name: industrial_ci
+      - name: Run industrial_ci
         uses: ros-industrial/industrial_ci@master
+        env: ${{ matrix.env }}
 
-      - name: upload test artifacts (on failure)
-        uses: actions/upload-artifact@v2
-        if: failure()
+      - name: Upload test artifacts (on failure)
+        uses: actions/upload-artifact@v3
+        if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
-          name: test-results
+          name: test-results-${{ matrix.env.IMAGE }}
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
-      - name: prepare target_ws for cache
+      - name: Prepare target_ws for cache
         if: ${{ always() }}
         run: |
           du -sh ${{ env.BASEDIR }}/target_ws
@@ -69,7 +75,7 @@ jobs:
     runs-on: ubuntu-latest
     container: ros:melodic-ros-base
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: "Install ruby"
       run: |
         apt-get update -q

.github/workflows/format.yaml

@@ -8,16 +8,18 @@ on:
   pull_request:
   push:
 
+permissions:
+  contents: read # to fetch code (actions/checkout)
+
 jobs:
   pre-commit:
     name: pre-commit
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - uses: actions/checkout@v3
       - name: Install clang-format-10
         run: sudo apt-get install clang-format-10
       - uses: rhaschke/install-catkin_lint-action@v1.0
         with:
           distro: melodic
-      - uses: pre-commit/action@v2.0.0
+      - uses: pre-commit/action@v3.0.0

doc/pick_place/src/pick_place_tutorial.cpp

@@ -86,6 +86,9 @@ void pick(moveit::planning_interface::MoveGroupInterface& move_group)
   std::vector<moveit_msgs::Grasp> grasps;
   grasps.resize(1);
 
+  // Allow collisions of panda_hand_sc with object
+  grasps[0].allowed_touch_objects.push_back("panda_hand_sc");
+
   // Setting grasp pose
   // ++++++++++++++++++++++
   // This is the pose of panda_link8. |br|