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fix failing remove gripper link from link-list, (member 'string' list… #1588

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Merged
k-okada merged 1 commit into from
May 30, 2016
Merged

fix failing remove gripper link from link-list, (member 'string' list… #1588

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2 changes: 1 addition & 1 deletion jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter.l
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@
&key link-list
&allow-other-keys)
;; if the last lik of link-list is a gripper, remove them
(when (member (send (car (last link-list)) :name) (list "right_gripper_vacuum_pad_base" "left_gripper_vacuum_pad_base"))
(when (member (send (car (last link-list)) :name) (list "right_gripper_vacuum_pad_base" "left_gripper_vacuum_pad_base") :test #'equal)
(setq link-list (butlast link-list)))
(send-super* :inverse-kinematics target-coords :link-list link-list
args)
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17 changes: 14 additions & 3 deletions jsk_2016_01_baxter_apc/test/test-ik.l
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Expand Up @@ -26,14 +26,25 @@
)))

(deftest issue-1474 () ;; https://github.com/start-jsk/jsk_apc/issues/1470#issuecomment-220518802
(let (av1 av2)
(let (av1 av2 av3)
(setup)
(setq av1 (send *baxter* :angle-vector))
(send *baxter* :rarm :move-end-pos #f(0 0 -50) :local)
;;(send *baxter* :rarm :move-end-pos #f(0 0 -50) :local)
(send-message *baxter* baxter-robot :rarm :move-end-pos #f(0 0 -50) :local)
(setq av2 (send *baxter* :angle-vector)) ;; #f(0.0 97.4707 -2.39502 -94.5483 134.67 91.4062 8.70117 0.0 -8.22871 40.7953 92.2281 64.6958 -80.3615 -21.3969 -46.1696 90.0)
(check-result av1 av2)
(assert (and av1 av2))
(assert (< (norm (v- av1 av2)) 10))
(assert (< (norm (v- av1 av2)) 90)) ;;
;; add to check if this can be solve normal-ik
(send *baxter* :angle-vector av1)
(setq av3 (send-message *baxter* robot-model
:inverse-kinematics (send (send *baxter* :rarm :end-coords :copy-worldcoords) :translate #f(0 0 -50))
:move-target (send *baxter* :rarm :end-coords)
:link-list (send *baxter* :link-list (send *baxter* :right_gripper_vacuum_pad_joint :parent-link) (send *baxter* :rarm :root-link))
:debug-view t))
(check-result av2 av3)
(assert (and av2 av3))
(assert (< (norm (v- av2 av3)) 5)) ;;
))

;; https://github.com/euslisp/jskeus/pull/380
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