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

[k-okada]

…) requries (member 'string' list #'equal)

[k-okada]

This PR fixes the problem committed in #1529

 (when (member (send (car (last link-list)) :name) (list "right_gripper_vacuum_pad_base" "left_gripper_vacuum_pad_base"))

checks (= name "right_gripper_vacuum_pad_base") and this will not expected behavior, we need to use equal to check them,
This PR uses

(when (member (send (car (last link-list)) :name) (list "right_gripper_vacuum_pad_base" "left_gripper_vacuum_pad_base") :test #'equal)

and
Close #1586

This PR will relax test condition

 -    (assert (< (norm (v- av1 av2)) 10))
 +    (assert (< (norm (v- av1 av2)) 90)) ;;

The IK changes joint-angle value largely, but it seems only two yaw joint rotates and whole arm shape configuration did not change so much, so it is say, in addition to that we added another test

 +    (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)) ;;

which checks Normal IK can solve this test.

https://github.com/start-jsk/jsk_apc/pull/1588/files#diff-db451fb82d2b39cbd79d693e2dd9e8d5R37

[pazeshun]

Could you remove tabs?

[pazeshun]

I made #1589 to remove tabs that cause travis failing.
Please check #1589

[k-okada]

On Mon, May 30, 2016 at 6:43 PM, pazeshun [email protected] wrote:

Can you remove tabs?

sorry, updated PR

◉ Kei Okada

[pazeshun]

@k-okada Oh, I already update it in #1589
Will I close #1589？

[pazeshun]

I closed #1589
Please merge this

[k-okada]

sorry for late