This repository is for choreonoid-2.1. For choreonoid-1.7, use https://github.com/Naoki-Hiraoka/joint_limit_table
K. Okada and M. Inaba, "A Hybrid Approach to Practical Self Collision Detection System of Humanoid Robot," 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006, pp. 3952-3957, doi: 10.1109/IROS.2006.281830.
Original code is https://github.com/fkanehiro/hrpsys-base/blob/master/rtc/SoftErrorLimiter/JointLimitTable.h