humotion

    trajectory_msgs::JointTrajectoryPoint p;

    p.positions.push_back(joint_target[ID_NECK_TILT] * M_PI / 180.0);

    //printf("targets pan=%4.1f tilt=%4.1f (eye p %4.1f t %4.2f)\n",joint_target[ID_NECK_TILT],joint_target[ID_NECK_PAN],joint_target[ID_EYES_LEFT_LR],joint_target[ID_EYES_BOTH_UD]);

    p.time_from_start = ros::Duration(1.2 * 1.0 / humotion::server::Server::MOTION_UPDATERATE);

}

void MekaJointInterface::init_joints(){

    store_min_max(ID_NECK_ROLL, -1, 1);

    store_min_max(ID_EYES_BOTH_UD, -1, 1);