ik-sample-position-interpolation

(load "irteus/demo/sample-robot-model.l")
(setq *robot* (instance sample-robot :init))
(send *robot* :reset-pose)
(send *robot* :fix-leg-to-coords (make-coords))
(setq c0 (make-coords :pos #f(300  500 800)))
(setq c1 (make-coords :pos #f(300 -100 800)))
(objects (list *robot* c0 c1))
(dotimes (i 100)
  (let ((tmp-c))
    (setq tmp-c (midcoords (/ i 100.0) c0 c1))
    (send *robot* :larm :inverse-kinematics tmp-c)
    (send *irtviewer* :draw-objects :flush nil)
    (send tmp-c :draw-on :flush t)
    ))