[fetcheus] add fetch head box collision

[sktometometo]

• add fetch headbox collision object when initializing fetch-interface

Please merge this pullreq after mergining #1174

[708yamaguchi]

Regarding to 83295ba#diff-d7eb7619176f5641c713e05e846088d4R203-R205

You can use move-coords method to adapt any posture of fetch.
For example,

(setq *fetch-headbox* (make-cube 100 201 120))
(send *fetch-headbox* :move-coords (send *fetch* :head_pan_link_lk :worldcoords) (send *fetch* :base_link_lk :worldcoords))
(send *fetch-headbox* :translate #f(33.75 0 150) (send *fetch* :head_pan_link_lk :worldcoords))

(You may use slot variable robot instead of *fetch*.)

[sktometometo]

@708yamaguchi
I have fixed :add-headbox-collision-objecct method according to your advice.
Thank you.

[knorth55]

@sktometometo is this still wip?

[sktometometo]

@knorth55 I think it may be not confirmed by experiment that this change does work well.

[knorth55]

please check this PR if it is working properly

[knorth55]

@sktometometo can you also add the latest urdf and meshes?
cc. @708yamaguchi

[k-okada]

please update labels...