[wip/BioMove3D] patch for new hri joints for JidoKukaSAHand

BioMove3D/distinfo

 SHA1 (BioMove3D-3.7.8.tar.gz) = 0a3e7c4c88c5a5fec34297b1d2d3f30c24b88833
 RMD160 (BioMove3D-3.7.8.tar.gz) = 40a377e1874eae3e3127128dbd0d23a1989f5b78
 Size (BioMove3D-3.7.8.tar.gz) = 5637040 bytes
+SHA1 (patch-aa) = 97e5bf7af95a6280e3dba185c972a7febf8db869

BioMove3D/patches/patch-aa

+diff --git a/hri_planner/hri_agent.c b/hri_planner/hri_agent.c
+index 8b088c0..819ad93 100644
+--- hri_planner/hri_agent.c
++++ hri_planner/hri_agent.c
+@@ -259,12 +259,12 @@ HRI_PERSP * hri_create_agent_perspective(HRI_AGENT * agent, p3d_env *env)
+       persp->point_tolerance = 20;      
+       break;
+     case HRI_JIDOKUKA:
+-      persp->camjoint = agent->robotPt->joints[15];
++      persp->camjoint = agent->robotPt->joints[30];
+       persp->fov = 60;
+       persp->foa = 60;
+       persp->tilt_jnt_idx = 3;
+       persp->pan_jnt_idx  = 2;
+-      persp->pointjoint = agent->robotPt->joints[18];
++      persp->pointjoint = agent->robotPt->joints[33];
+       persp->point_tolerance = 20;      
+       break;
+     case HRI_PR2:
+@@ -560,7 +560,7 @@ int hri_create_fill_agent_default_manip_tasks(HRI_MANIP * manip, GIK_TASK ** tas
+       (*tasklist)[0].default_joints[0] = 2;
+       (*tasklist)[0].default_joints[1] = 3;
+       (*tasklist)[0].default_joints[2] = 16;
+-      (*tasklist)[0].active_joint = 16; /* active joint */
++      (*tasklist)[0].active_joint = 31; /* active joint */
+       (*tasklist)[0].default_joints_no = 3;
+       
+       (*tasklist)[1].type = GIK_LATREACH;
+@@ -571,7 +571,7 @@ int hri_create_fill_agent_default_manip_tasks(HRI_MANIP * manip, GIK_TASK ** tas
+       (*tasklist)[1].default_joints[4] = 9;
+       (*tasklist)[1].default_joints[5] = 10;
+       (*tasklist)[1].default_joints[6] = 11;
+-      (*tasklist)[1].active_joint = 18; /* active joint */
++      (*tasklist)[1].active_joint = 33; /* active joint */
+       (*tasklist)[1].default_joints_no = 7;
+       
+       (*tasklist)[2].type = GIK_RATREACH;
+@@ -582,7 +582,7 @@ int hri_create_fill_agent_default_manip_tasks(HRI_MANIP * manip, GIK_TASK ** tas
+       (*tasklist)[2].default_joints[4] = 9;
+       (*tasklist)[2].default_joints[5] = 10;
+       (*tasklist)[2].default_joints[6] = 11;
+-      (*tasklist)[2].active_joint = 18; /* active joint */
++      (*tasklist)[2].active_joint = 33; /* active joint */
+       (*tasklist)[2].default_joints_no = 7;
+       
+       (*tasklist)[3].type = GIK_RAPOINT;
+@@ -593,7 +593,7 @@ int hri_create_fill_agent_default_manip_tasks(HRI_MANIP * manip, GIK_TASK ** tas
+       (*tasklist)[3].default_joints[4] = 9;
+       (*tasklist)[3].default_joints[5] = 10;
+       (*tasklist)[3].default_joints[6] = 11;
+-      (*tasklist)[3].active_joint = 17; /* active joint */
++      (*tasklist)[3].active_joint = 32; /* active joint */
+       (*tasklist)[3].default_joints_no = 7;
+       
+       (*tasklist)[4].type = GIK_LAPOINT;
+@@ -604,7 +604,7 @@ int hri_create_fill_agent_default_manip_tasks(HRI_MANIP * manip, GIK_TASK ** tas
+       (*tasklist)[4].default_joints[4] = 9;
+       (*tasklist)[4].default_joints[5] = 10;
+       (*tasklist)[4].default_joints[6] = 11;
+-      (*tasklist)[4].active_joint = 17; /* active joint */
++      (*tasklist)[4].active_joint = 32; /* active joint */
+       (*tasklist)[4].default_joints_no = 7;
+       
+       return TRUE;