Closed k-okada closed 4 years ago
add mimic-joint-params, rotational-mimic-joint linear-mimic-joint class
see pr2-mimic.sh for exmaple, it generate codes as follows;
pr2-mimic.sh
;; re-define r_gripper_l_finger_joint as mimic-joint (let (tmp-mimic-joint) (setq tmp-mimic-joint (replace-object (instance rotational-mimic-joint :init :parent-link (make-cascoords) :child-link (make-cascoords) :max-joint-velocity 0 :max-joint-torque 0) r_gripper_l_finger_joint_jt)) (setq r_gripper_l_finger_joint_jt tmp-mimic-joint)) (setq (r_gripper_l_finger_joint_jt . mimic-joints) (list (instance mimic-joint-param :init r_gripper_l_finger_tip_joint_jt :multiplier 1.000000 :offset 0.000000) (instance mimic-joint-param :init r_gripper_r_finger_joint_jt :multiplier 1.000000 :offset 0.000000) (instance mimic-joint-param :init r_gripper_r_finger_tip_joint_jt :multiplier 1.000000 :offset 0.000000) ))
特に修正したいポイントはなかったのですが、使用してみたので状況を報告します。
add mimic-joint-params, rotational-mimic-joint linear-mimic-joint class
see
pr2-mimic.sh
for exmaple, it generate codes as follows;