Call :define-min-max-table in :init-ending in xx-utils.l. (reported p…

…roblem : start-jsk#508, discussion : start-jsk#509 (comment))

hrpsys_ros_bridge_tutorials/euslisp/hrp2g-utils.l

@@ -1,3 +1,11 @@
+(defmethod hrp2g-robot
+  (:init-ending
+   ()
+   (prog1
+       (send-super :init-ending)
+     (send self :define-min-max-table)
+     )))
+
 ;; stop and start grasp
 (defun hrp2g-stop-grasp (limb)
   (when (boundp '*hrp2g*)

hrpsys_ros_bridge_tutorials/euslisp/hrp2jsk-utils.l

@@ -0,0 +1,7 @@
+(defmethod hrp2jsk-robot
+  (:init-ending
+   ()
+   (prog1
+       (send-super :init-ending)
+     (send self :define-min-max-table)
+     )))

hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l

@@ -8,6 +8,12 @@
     ,@(get-hrp2-with-hand-class-methods)))
 
 (defmethod hrp2jsknts-robot
+  (:init-ending
+   ()
+   (prog1
+       (send-super :init-ending)
+     (send self :define-min-max-table)
+     ))
   (:inverse-kinematics
    (target-coords
     &rest args

hrpsys_ros_bridge_tutorials/euslisp/hrp2w-utils.l

@@ -1,3 +1,11 @@
+(defmethod hrp2w-robot
+  (:init-ending
+   ()
+   (prog1
+       (send-super :init-ending)
+     (send self :define-min-max-table)
+     )))
+
 ;; stop and start grasp
 (defun hrp2w-stop-grasp (limb)
   (when (boundp '*hrp2w*)

hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l

@@ -14,6 +14,7 @@
      (send self :add-hip-contact-coords)
      (send self :put :lhand-model (instance dummy-thk-hand-robot :init :name :l-thk-hand))
      (send self :put :rhand-model (instance dummy-thk-hand-robot :init :name :r-thk-hand))
+     (send self :define-min-max-table)
      ))
   (:add-hoist-point-coords
    ()

hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l

@@ -14,6 +14,7 @@
      (send self :add-hip-contact-coords)
      (send self :put :lhand-model (instance dummy-thk-hand-robot :init :name :l-thk-hand))
      (send self :put :rhand-model (instance dummy-thk-hand-robot :init :name :r-thk-hand))
+     (send self :define-min-max-table)
      ))
   (:add-hoist-point-coords
    ()

hrpsys_ros_bridge_tutorials/euslisp/make-joint-min-max-table.l

@@ -161,14 +161,9 @@
   (with-open-file
    (f path :direction :output :if-exists :append)
    (format f "(defmethod ~A~%" (send (class robot) :name))
-   (format f "  (:init-ending~%")
-   (format f "    ()~%")
-   (format f "    (prog1~%")
-   (format f "      (send-super :init-ending)~%")
-   (format f "     (send self :define-min-max-table)~%")
-   (format f "    ))~%")
    (format f "  (:define-min-max-table~%")
    (format f "    ()~%")
+   (format f "    \"This method should be called in :init-ending.\"~%")
    (labels
        ((gen-string-name
          (j)

hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l

@@ -67,6 +67,7 @@
    (prog1
     (send-super* :init-ending args)
     (send self :add-additional-body-parts)
+    (send self :define-min-max-table)
 
     ;; add contact-end-coords to arms
     (let (rarm-contact-end-coords larm-contact-end-coords)