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[hrpsys_ros_bridge_tutorials/make-joint-min-max-table.l] fix head min-max-table for JAXON_RED #612

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[hrpsys_ros_bridge_tutorials/make-joint-min-max-table.l] fix head min-max-table for JAXON_RED #612

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31 changes: 6 additions & 25 deletions hrpsys_ros_bridge_tutorials/euslisp/make-joint-min-max-table.l
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Original file line number Diff line number Diff line change
Expand Up @@ -105,31 +105,12 @@
(send robot :torso :waist-r)
(send robot :torso :waist-p)
:margin 2))
(if (string= "JAXON" (send robot :name))
(send robot :make-joint-min-max-table
(send robot :head :neck-y :parent-link)
(send robot :head :neck-p :child-link)
(send robot :head :neck-y)
(send robot :head :neck-p)
:margin margin)
(progn
(send (send robot :joint "HEAD_JOINT0") :put :org-min-angle -61.0)
(send (send robot :joint "HEAD_JOINT0") :put :org-max-angle 61.0)
(send (send robot :joint "HEAD_JOINT1") :put :org-min-angle -21.0)
(send (send robot :joint "HEAD_JOINT1") :put :org-max-angle 48.0)
(send (send robot :joint "HEAD_JOINT0") :joint-min-max-table
'#2f((-21 -20 -19 -18 -17 -16 -15 -14 -13 -12 -11 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48)
(-8 -17 -26 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -61 -60 -60 -60 -60 -60 -60 -60 -35 -33 -33 -32 -32 -31 -31 -30 -30 -30 -30 -29 -29 -29 -29 -29 -28 -28 -28 -28 -27 -27 -26 -26 -26 -25 -24 -23 -22 -21 -20 -18 -17 -16 -14 -13 -12 -10 -10 -9 -8)
(8 17 26 61 61 61 61 61 61 61 61 61 61 61 61 61 61 61 61 61 61 61 60 60 60 60 60 60 60 35 33 33 32 32 31 31 30 30 30 30 29 29 29 29 29 28 28 28 28 27 27 26 26 26 25 24 23 22 21 20 18 17 16 14 13 12 10 10 9 8))
)
(send (send robot :joint "HEAD_JOINT0") :joint-min-max-target (send robot :joint "HEAD_JOINT1"))
(send (send robot :joint "HEAD_JOINT1") :joint-min-max-table
'#2f((-61 -60 -59 -58 -57 -56 -55 -54 -53 -52 -51 -50 -49 -48 -47 -46 -45 -44 -43 -42 -41 -40 -39 -38 -37 -36 -35 -34 -33 -32 -31 -30 -29 -28 -27 -26 -25 -24 -23 -22 -21 -20 -19 -18 -17 -16 -15 -14 -13 -12 -11 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61)
(-18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -19 -19 -19 -19 -19 -19 -19 -19 -19 -20 -20 -20 -20 -20 -20 -20 -20 -20 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -21 -20 -20 -20 -20 -20 -20 -20 -20 -20 -19 -19 -19 -19 -19 -19 -19 -19 -19 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18)
(0 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 10 12 14 18 23 27 29 32 33 34 35 36 37 38 38 39 40 41 41 42 43 44 44 46 47 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 48 47 46 44 44 43 42 41 41 40 39 38 38 37 36 35 34 33 32 29 27 23 18 14 12 10 8 8 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 0))
)

(send (send robot :joint "HEAD_JOINT1") :joint-min-max-target (send robot :joint "HEAD_JOINT0"))))
(send robot :make-joint-min-max-table
(send robot :head :neck-y :parent-link)
(send robot :head :neck-p :child-link)
(send robot :head :neck-y)
(send robot :head :neck-p)
:margin margin)
)
(defun gen-min-max-table-staro
(robot margin)
Expand Down