def plan_joints_collision_free(self, joint_state, starting_state=None, ordered_collisions=None, timeout=15.0, bounds=None, planner_id='', ntries=3): ''' **Deprecated.** Use plan_collision_free. ''' starting_state = self.get_closest_state_in_limits(robot_state=starting_state) goal = conv.joint_state_to_motion_plan_request(joint_state, self.hand.hand_frame, self.arm_name, starting_state, timeout=timeout, bounds=bounds, planner_id=planner_id) goal_state = tt.set_joint_state_in_robot_state(joint_state, copy.deepcopy(starting_state)) rospy.loginfo('Position of wrist is\n'+str(self._transformer.get_transform ('l_wrist_roll_link', self._psi.robot_frame, goal_state))) rospy.loginfo('Position of fingertip is\n'+str(self._transformer.get_transform('l_gripper_r_finger_tip_link', self._psi.robot_frame, goal_state))) rospy.loginfo('Collision objects are\n') cos = self._psi.collision_objects() for co in cos: if 'table' not in co.id: rospy.loginfo(str(co)) rospy.loginfo('Attached collision objects are\n') aos = self._psi.attached_collision_objects() for ao in aos: rospy.loginfo(ao) return self.plan_collision_free(goal, ordered_collisions=ordered_collisions, ntries=ntries)