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mmurooka/test-soft-error-limiter.l

Created June 23, 2016 11:57
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Test SoftErrorLimiter Bug
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test-soft-error-limiter.l
(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l")
(hrp2jsknt-init)
(setq *robot* *hrp2jsknt*)
(send *robot* :angle-vector #f(-4.40826 0.0 -15.5398 37.2128 -19.2137 0.0 0.0 -4.40717 0.0 -16.5779 37.4299 -18.3927 0.0 0.0 12.4367 -0.346437 0.0 0.0 -62.8846 8.83576 59.0133 -74.8765 -36.3933 -86.4512 19.8172 15.0 -45.5764 8.92094 -28.0361 -52.815 -24.1275 -4.62376 2.76207 -15.0))
(send *ri* :angle-vector (send *robot* :angle-vector) 1000)
(send *ri* :start-impedance :rarm)
(send *ri* :set-ref-force #f(0 10 0) 2000 :rarm)
(send *ri* :set-ref-force #f(0 -10 0) 2000 :rarm)
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