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(load "package://hrpsys_ros_bridge_tutorials/euslisp/jaxon-interface.l") | |
(defun setup-real | |
() | |
(jaxon-init) | |
(setq *robot* *jaxon*) | |
(objects (list *robot*)) | |
(send *ri* :start-grasp) | |
) | |
;; 実験1 | |
;; この関節角で | |
;; abcあり,stなしで地面に立たせて, | |
;; (send *ri* :set-ref-force (float-vector 0 0 -20) 2000 :arms) | |
;; して箱を渡すと抱えながら立てる. | |
;; stを入れるとガタガタした. | |
;; 実験2 | |
;; この関節角で | |
;; abcあり,stありで地面に立たせて, | |
;; (send *ri* :set-ref-force (float-vector 0 0 -10) 2000 :rarm) | |
;; (send *ri* :set-ref-force (float-vector 0 0 -30) 2000 :larm) | |
;; して箱を渡すと抱えながら立てる. | |
;; (send *ri* :go-pos 0.2 0 0) (send *ri* :go-pos 0 0 30) などで歩ける. | |
(defun test1 | |
() | |
(send *robot* :reset-manip-pose) | |
(send *robot* :head :neck-p :joint-angle 0) | |
(send *robot* :arms :move-end-pos #f(300 0 0) :world) | |
(send *robot* :larm :move-end-pos #f(150 50 300) :world) | |
(send *robot* :larm :move-end-rot 50 :x :world) | |
(send *robot* :rarm :move-end-pos #f(125 -50 0) :world) | |
(send *robot* :rarm :move-end-rot 20 :z :world) | |
(send *robot* :rarm :move-end-rot -50 :x :world) | |
(send *robot* :rarm :elbow-p :joint-angle -60) | |
(send *robot* :rarm :collar-y :joint-angle 60) | |
) | |
;;(send *ri* :angle-vector (send *robot* :angle-vector) 5000) |
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