fix go-grasp problem in eus model

sktometometo · Nov 17, 2021 · 7a6abf5 · 7a6abf5
1 parent 65a6ff6
commit 7a6abf5
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/jsk_kinova_robot/kinovaeus/kinova-interface.l b/jsk_kinova_robot/kinovaeus/kinova-interface.l
@@ -168,13 +168,13 @@
     (when (send self :simulation-modep)
       ;; mimic joint
       ;; https://github.com/Kinovarobotics/ros_kortex/blob/kinetic-devel/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro
-      (send robot :right_finger_bottom_joint :joint-angle
+      (send robot :kinova_right_finger_bottom_joint :joint-angle
             (rad2deg pos))
-      (send robot :right_finger_tip_joint :joint-angle
+      (send robot :kinova_right_finger_tip_joint :joint-angle
             (rad2deg (+ (* -0.676 pos) 0.149)))
-      (send robot :left_finger_bottom_joint :joint-angle
+      (send robot :kinova_left_finger_bottom_joint :joint-angle
             (rad2deg (* -1 pos)))
-      (send robot :left_finger_tip_joint :joint-angle
+      (send robot :kinova_left_finger_tip_joint :joint-angle
             (rad2deg (+ (* -0.676 pos) 0.149)))
       (return-from :go-grasp-lite t))
     (let ((pos-max 0.95) (pos-min -0.05))

diff --git a/jsk_spotkinova_robot/spotkinovaeus/spotkinova.l b/jsk_spotkinova_robot/spotkinovaeus/spotkinova.l
@@ -244,13 +244,13 @@ Example:
   (:go-grasp (&key (pos 0))
     ;; mimic joint
     ;; https://github.com/Kinovarobotics/ros_kortex/blob/kinetic-devel/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro
-    (send self :right_finger_bottom_joint :joint-angle
+    (send self :kinova_right_finger_bottom_joint :joint-angle
           (rad2deg pos))
-    (send self :right_finger_tip_joint :joint-angle
+    (send self :kinova_right_finger_tip_joint :joint-angle
           (rad2deg (+ (* -0.676 pos) 0.149)))
-    (send self :left_finger_bottom_joint :joint-angle
+    (send self :kinova_left_finger_bottom_joint :joint-angle
           (rad2deg (* -1 pos)))
-    (send self :left_finger_tip_joint :joint-angle
+    (send self :kinova_left_finger_tip_joint :joint-angle
           (rad2deg (+ (* -0.676 pos) 0.149))))
   (:start-grasp ()
     (send self :go-grasp :pos -0.05))