[euscollada] Add :user-defined-joints method to get list of user-defined joint methods

[garaemon]

It will generates method like

    (:user-defined-joints ()
       (list
          (cons :rleg-crotch-y RLEG_JOINT0_jt)
          (cons :rleg-crotch-r RLEG_JOINT1_jt)
          (cons :rleg-crotch-p RLEG_JOINT2_jt)
          (cons :rleg-knee-p RLEG_JOINT3_jt)
          (cons :rleg-ankle-p RLEG_JOINT4_jt)
          (cons :rleg-ankle-r RLEG_JOINT5_jt)
          (cons :rleg-toe-p RLEG_JOINT6_jt)
          (cons :lleg-crotch-y LLEG_JOINT0_jt)
          (cons :lleg-crotch-r LLEG_JOINT1_jt)
          (cons :lleg-crotch-p LLEG_JOINT2_jt)
          (cons :lleg-knee-p LLEG_JOINT3_jt)
          (cons :lleg-ankle-p LLEG_JOINT4_jt)
          (cons :lleg-ankle-r LLEG_JOINT5_jt)
          (cons :lleg-toe-p LLEG_JOINT6_jt)
          (cons :torso-waist-y CHEST_JOINT0_jt)
          (cons :torso-waist-p CHEST_JOINT1_jt)
          (cons :head-neck-y HEAD_JOINT0_jt)
          (cons :head-neck-p HEAD_JOINT1_jt)
          (cons :rarm-shoulder-p RARM_JOINT0_jt)
          (cons :rarm-shoulder-r RARM_JOINT1_jt)
          (cons :rarm-shoulder-y RARM_JOINT2_jt)
          (cons :rarm-elbow-p RARM_JOINT3_jt)
          (cons :rarm-wrist-y RARM_JOINT4_jt)
          (cons :rarm-wrist-r RARM_JOINT5_jt)
          (cons :rarm-wrist-p RARM_JOINT6_jt)
          (cons :rarm-thumb-r RARM_JOINT7_jt)
          (cons :larm-shoulder-p LARM_JOINT0_jt)
          (cons :larm-shoulder-r LARM_JOINT1_jt)
          (cons :larm-shoulder-y LARM_JOINT2_jt)
          (cons :larm-elbow-p LARM_JOINT3_jt)
          (cons :larm-wrist-y LARM_JOINT4_jt)
          (cons :larm-wrist-r LARM_JOINT5_jt)
          (cons :larm-wrist-p LARM_JOINT6_jt)
          (cons :larm-thumb-r LARM_JOINT7_jt)
       ))

[snozawa]

For joint naming, here we assume that:

• Name (A) (semantic name?): (send *robot* :rarm :shoulder-p)
• Name (B) (strict name?): LARM_JOINT2

Currently, a method to get (B) from (A) exists: (send *robot* :rarm :shoulderp) However, there are no way to get (A) from (B).

This PR can be used to get (A) from (B), but

• What is the purpose of this PR in your case?
• Can you define these method in jskeus/irteus? Both (A) and (B) are supported in jskeus/irteus level, so it would be better to add this PR method to jskeus/irteus, not to euscollada conversion.

https://github.com/euslisp/jskeus/blob/master/irteus/demo/sample-robot-model.l#L257 https://github.com/euslisp/jskeus/blob/master/irteus/irtrobot.l#L175

[garaemon]

I'd like to know list of joints are perpendicular or not. does irtmodel.l support it?

[snozawa]

list of joints are perpendicular or not.

すんません、、、これこのケースでは、日本語でいうと何でしょうか？