Open pazeshun opened 4 years ago
I'm sorry, this is my BIG fault.... Currently, the duration (tm) passed to :move-hand is rounded down to a multiple of 1000: https://github.com/start-jsk/jsk_apc/blob/2553b557d98c5f258bf4ca44da8c4bfb8b19fd64/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l#L231
tm
:move-hand
This PR fixes it by changing 1000 to 1000.0. In addition, this PR fixes codes using :move-hand to keep robot motion the same even with new :move-hand. I searched all codes under this repository:
1000
1000.0
$ pwd /home/pazeshun/ros/ws_jsk_apc/src/start-jsk/jsk_apc $ git fetch --all Fetching origin Fetching pazeshun $ git status ブランチ master Your branch is up-to-date with 'origin/master'. nothing to commit, working directory clean $ grep -r ":move-hand" -A 1 doc/jsk_arc2017_baxter/usage_of_baxter.rst: (send *ri* :move-hand :rarm (send *baxter* :hand :rarm :angle-vector) 1000) doc/jsk_arc2017_baxter/usage_of_baxter.rst- -- jsk_arc2017_baxter/euslisp/lib/pick-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/pick-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- jsk_arc2017_baxter/euslisp/lib/stow-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/stow-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000 -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :spherical :angle 90) 1000 -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 90) 1000))) -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) jsk_arc2017_baxter/euslisp/lib/arc-interface.l- ;; Picking trials in the bin -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil))) -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000 :wait nil) -- jsk_arc2017_baxter/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000) -- jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l: (:move-hand jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l- (arm av tm &key (wait t)) -- jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l: (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%" jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l- (send res :error_code) (send res :error_string))) -- jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l: (send self :move-hand l/r finger-av 2000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l- (dotimes (x 100) -- jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l- (dotimes (x 100) -- jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l- (dotimes (x 100) -- jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l: (send self :move-hand l/r finger-av 1000)) jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l- (setq prev-av (send robot :angle-vector)) -- jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l: (send self :move-hand l/r finger-av 1000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l- (if (> (aref finger-av 0) 45) -- jsk_arc2017_baxter/euslisp/lib/baxter-interface.l: (:move-hand jsk_arc2017_baxter/euslisp/lib/baxter-interface.l- (arm av tm &key (wait t)) -- jsk_arc2017_baxter/euslisp/lib/baxter-interface.l: (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%" jsk_arc2017_baxter/euslisp/lib/baxter-interface.l- (send res :error_code) (send res :error_string))) -- jsk_arc2017_baxter/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 2000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxter-interface.l- (dotimes (x 100) -- jsk_arc2017_baxter/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxter-interface.l- (dotimes (x 100) -- jsk_arc2017_baxter/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxter-interface.l- (dotimes (x 100) -- jsk_arc2017_baxter/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 1000)) jsk_arc2017_baxter/euslisp/lib/baxter-interface.l- (setq prev-av (send robot :angle-vector)) -- jsk_arc2017_baxter/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 1000 :wait nil) jsk_arc2017_baxter/euslisp/lib/baxter-interface.l- (if (> (aref finger-av 0) 45) -- jsk_arc2017_baxter/euslisp/test/test-baxter-interface.l: (send *ri* :move-hand :larm #f(10 20) 1000 :wait nil) jsk_arc2017_baxter/euslisp/test/test-baxter-interface.l: (send *ri* :move-hand :rarm #f(10 20) 1000 :wait nil)) jsk_arc2017_baxter/euslisp/test/test-baxter-interface.l- -- jsk_arc2017_baxter/euslisp/test/test-baxterlgv7-interface.l: (send *ri* :move-hand :larm #f(10 20 30) 1000 :wait nil) jsk_arc2017_baxter/euslisp/test/test-baxterlgv7-interface.l: (send *ri* :move-hand :rarm #f(10 20) 1000 :wait nil)) jsk_arc2017_baxter/euslisp/test/test-baxterlgv7-interface.l- -- jsk_arc2017_baxter/euslisp/pick-main.l: (send *ri* :move-hand :rarm jsk_arc2017_baxter/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) jsk_arc2017_baxter/euslisp/pick-main.l: (send *ri* :move-hand :larm jsk_arc2017_baxter/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) jsk_arc2017_baxter/euslisp/pick-main.l: (send *ri* :move-hand :rarm jsk_arc2017_baxter/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) jsk_arc2017_baxter/euslisp/pick-main.l: (send *ri* :move-hand :larm jsk_arc2017_baxter/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l: (send *ri* :move-hand :larm l-finger-av 2000 :wait nil) jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l: (send *ri* :move-hand :rarm r-finger-av 2000 :wait t) jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l- -- jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l: (send *ri* :move-hand :larm l-finger-av 2000 :wait nil) jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l: (send *ri* :move-hand :rarm r-finger-av 2000 :wait t) jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l- jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l: (send *ri* :move-hand :larm l-finger-av-init 2000 :wait nil) jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l: (send *ri* :move-hand :rarm r-finger-av-init 2000 :wait t) jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l- ) -- jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l: (send *ri* :move-hand arm finger-av 2000 :wait t) jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l- -- jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l: (send *ri* :move-hand arm finger-av 2000 :wait t) jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l- jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l: (send *ri* :move-hand arm finger-av-init 2000 :wait t) jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l- ) -- jsk_arc2017_baxter/euslisp/check-pinch-graspability.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/check-pinch-graspability.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) jsk_arc2017_baxter/euslisp/check-pinch-graspability.l: (send *ri* :move-hand arm jsk_arc2017_baxter/euslisp/check-pinch-graspability.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 110) 1000) -- jsk_arc2017_baxter/euslisp/check-pinch-graspability.l: (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000) jsk_arc2017_baxter/euslisp/check-pinch-graspability.l- (send *ri* :start-grasp arm) -- jsk_arc2017_baxter/euslisp/check-pinch-graspability.l: (send *ri* :move-hand :rarm (send *baxter* :hand :rarm :angle-vector #f(90 0)) 1000)) -- jsk_arc2017_baxter/euslisp/stow-main.l: (send *ri* :move-hand :rarm jsk_arc2017_baxter/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) jsk_arc2017_baxter/euslisp/stow-main.l: (send *ri* :move-hand :larm jsk_arc2017_baxter/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) jsk_arc2017_baxter/euslisp/stow-main.l: (send *ri* :move-hand :rarm jsk_arc2017_baxter/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) jsk_arc2017_baxter/euslisp/stow-main.l: (send *ri* :move-hand :larm jsk_arc2017_baxter/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/stow-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/stow-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000 -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :spherical :angle 90) 1000 -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 90) 1000))) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- ;; Picking trials in the bin -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil))) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000 :wait nil) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :opposed -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :opposed) 1000) demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t)) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :opposed -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :opposed) 1000) demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t)) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :hand-grasp-pose arm :opposed -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000) demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t)) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l: (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :opposed) 1000) demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l- (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t)) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l: (send *ri* :move-hand :rarm demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l: (send *ri* :move-hand :larm demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l: (send *ri* :move-hand :rarm demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l: (send *ri* :move-hand :larm demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l: (send *ri* :move-hand :rarm demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l: (send *ri* :move-hand :larm demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l: (send *ri* :move-hand :rarm demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l: (send *ri* :move-hand :larm demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: (send *ri* :move-hand arm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- ; (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- ; (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) -- demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait t) demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- ; (send *baxter* :hand-grasp-pose :larm :spherical :angle 90) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- ; (send *baxter* :hand-grasp-pose :rarm :spherical :angle 90) 1000 :wait nil) -- demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :larm (send *baxter* :hand-grasp-pose :larm :cylindrical) 1000) demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :rarm (send *baxter* :hand-grasp-pose :rarm :cylindrical) 1000) demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- ; (send *ri* :wait-interpolation) -- demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- ; (send *baxter* :hand-grasp-pre-pose :larm :spherical) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l: ; (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l- ; (send *baxter* :hand-grasp-pre-pose :rarm :spherical) 1000 :wait nil) -- demos/selective_dualarm_grasping/euslisp/test-grasp.l: (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/test-grasp.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/test-grasp.l: (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/test-grasp.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/selective_dualarm_grasping/euslisp/test-grasp.l: (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/test-grasp.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/test-grasp.l: (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/test-grasp.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l: (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l: (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l: (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l: (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/selective_dualarm_grasping/euslisp/sampling-grasp.l: (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/sampling-grasp.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/sampling-grasp.l: (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/sampling-grasp.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/selective_dualarm_grasping/euslisp/sampling-grasp.l: (send *ri* :move-hand :rarm demos/selective_dualarm_grasping/euslisp/sampling-grasp.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/selective_dualarm_grasping/euslisp/sampling-grasp.l: (send *ri* :move-hand :larm demos/selective_dualarm_grasping/euslisp/sampling-grasp.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/instance_occlsegm/ros/synthetic2d/euslisp/pick.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 90) 1000 :wait nil) demos/instance_occlsegm/ros/synthetic2d/euslisp/pick.l- (let (c) -- demos/baxtergv6_apc2016/euslisp/lib/pick-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/pick-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait t) demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pre-pose arm -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 90) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pre-pose arm -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil))) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil) -- demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l: (send *ri* :move-hand arm demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000) -- demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l: (:move-hand demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l- (arm av tm &key (wait t)) -- demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l: (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%" demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l- (send res :error_code) (send res :error_string))) -- demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 2000 :wait nil) demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l- (dotimes (x 100) -- demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l- (dotimes (x 100) -- demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l- (dotimes (x 100) -- demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 1000)) demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l- (setq prev-av (send robot :angle-vector)) -- demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l: (send self :move-hand l/r finger-av 1000 :wait nil) demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l- (if (> (aref finger-av 0) 45) -- demos/baxtergv6_apc2016/euslisp/pick-main.l: (send *ri* :move-hand :rarm demos/baxtergv6_apc2016/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/baxtergv6_apc2016/euslisp/pick-main.l: (send *ri* :move-hand :larm demos/baxtergv6_apc2016/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/baxtergv6_apc2016/euslisp/pick-main.l: (send *ri* :move-hand :rarm demos/baxtergv6_apc2016/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/baxtergv6_apc2016/euslisp/pick-main.l: (send *ri* :move-hand :larm demos/baxtergv6_apc2016/euslisp/pick-main.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l: (send *ri* :move-hand :rarm demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l- (send *baxter* :hand-grasp-pose :rarm :cylindrical :angle 40) 1000) -- demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l: (send *ri* :move-hand :rarm demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l- (send *baxter* :hand-grasp-pose :rarm :cylindrical) 1000) -- demos/baxtergv6_apc2016/euslisp/stow-main.l: (send *ri* :move-hand :rarm demos/baxtergv6_apc2016/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/baxtergv6_apc2016/euslisp/stow-main.l: (send *ri* :move-hand :larm demos/baxtergv6_apc2016/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/baxtergv6_apc2016/euslisp/stow-main.l: (send *ri* :move-hand :rarm demos/baxtergv6_apc2016/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/baxtergv6_apc2016/euslisp/stow-main.l: (send *ri* :move-hand :larm demos/baxtergv6_apc2016/euslisp/stow-main.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l: (:move-hand demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l- (arm av tm &key (wait t)) -- demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l: (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%" demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l- (send res :error_code) (send res :error_string))) -- demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l: (send self :move-hand l/r finger-av 2000 :wait nil) demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l- (dotimes (x 100) -- demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l- (dotimes (x 100) -- demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l: (send self :move-hand l/r finger-av 4000 :wait nil) demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l- (dotimes (x 100) -- demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l: (send self :move-hand l/r finger-av 1000)) demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l- (setq prev-av (send robot :angle-vector)) -- demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l: (send self :move-hand l/r finger-av 1000 :wait nil) demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l- (if (> (aref finger-av 0) 45) -- demos/sphand_ros/sphand_driver/euslisp/test/test-baxterlgv8-interface.l: (send *ri* :move-hand :larm #f(10 20 30) 1000 :wait nil) demos/sphand_ros/sphand_driver/euslisp/test/test-baxterlgv8-interface.l: (send *ri* :move-hand :rarm #f(10 20) 1000 :wait nil)) demos/sphand_ros/sphand_driver/euslisp/test/test-baxterlgv8-interface.l- -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500) demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 0) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500) demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pose *arm* :opposed :angle 80) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pose *arm* :opposed :angle 100) 1500) -- demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l: (send *ri* :move-hand *arm* demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil))) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand arm :angle-vector (float-vector finger-yaw 75 75)) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 100) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000))) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000))) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000)) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l: (send *ri* :move-hand :rarm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l: (send *ri* :move-hand :larm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l: (send *ri* :move-hand :rarm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l: (send *ri* :move-hand :larm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l: (send *ri* :move-hand :rarm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l: (send *ri* :move-hand :larm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l- (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l: (send *ri* :move-hand :rarm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l: (send *ri* :move-hand :larm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l- (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil))) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 100) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm support-style) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l- (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000))) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000))) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000) demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l: (send *ri* :move-hand arm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000)) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l: (send *ri* :move-hand :rarm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l: (send *ri* :move-hand :rarm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l- (send *baxter* :hand-grasp-pose :rarm :cylindrical) 1000) -- demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l: (send *ri* :move-hand :rarm demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (:move-hand jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (arm av tm &key (wait t)) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%" jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send res :error_code) (send res :error_string))) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l: (send self :move-hand arm jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l- (send *baxter* :hand arm :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l- (send *baxter* :hand *arm* :angle-vector) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unless (wait-user "Release object?") (return-from opposed-with-suction nil)) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :stop-grasp *arm*) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unless (wait-user "Release object?") (return-from opposed-without-suction nil)) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- ) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :spherical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unless (wait-user "Release object?") (return-from spherical-with-suction nil)) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :stop-grasp *arm*) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :spherical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unless (wait-user "Release object?") (return-from spherical-without-suction nil)) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- ) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unless (wait-user "Release object?") (return-from cylindrical-with-suction nil)) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :stop-grasp *arm*) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unix::sleep 1) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- ) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unix::sleep 1) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- ) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (unix::sleep 1) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- ) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- ) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 3000) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- (send *ri* :wait-interpolation) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l: (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l- ) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l- (send *baxter* :hand-grasp-pre-pose *arm* (send *ri* :get-val '_grasp-style)) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pose *arm* :opposed :angle 130) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pose *arm* :opposed :angle 130) 1500) -- jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l: (send *ri* :move-hand *arm* jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l- (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500) -- jsk_2016_01_baxter_apc/euslisp/main-rgv5.l: (send *ri* :move-hand :rarm jsk_2016_01_baxter_apc/euslisp/main-rgv5.l- (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/main-rgv5.l: (send *ri* :move-hand :rarm jsk_2016_01_baxter_apc/euslisp/main-rgv5.l- (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1500) -- jsk_2016_01_baxter_apc/euslisp/main-rgv5.l: (send *ri* :move-hand arm jsk_2016_01_baxter_apc/euslisp/main-rgv5.l- (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1500) jsk_2016_01_baxter_apc/euslisp/main-rgv5.l: (send *ri* :move-hand arm jsk_2016_01_baxter_apc/euslisp/main-rgv5.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1500) -- jsk_2016_01_baxter_apc/euslisp/main-rgv5.l: (send *ri* :move-hand arm jsk_2016_01_baxter_apc/euslisp/main-rgv5.l- (send *baxter* :hand-grasp-pre-pose arm (send *ri* :get-val '_grasp-style)) -- jsk_2016_01_baxter_apc/euslisp/main-rgv5.l: (send *ri* :move-hand arm jsk_2016_01_baxter_apc/euslisp/main-rgv5.l- (send *baxter* :hand-grasp-pre-pose arm :opposed) 1500)
Not confirmed by the real robot
pazeshun
commented
4 years ago
I'm sorry, this is my BIG fault.... Currently, the duration (
tm) passed to:move-handis rounded down to a multiple of 1000: https://github.com/start-jsk/jsk_apc/blob/2553b557d98c5f258bf4ca44da8c4bfb8b19fd64/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l#L231This PR fixes it by changing
1000to1000.0. In addition, this PR fixes codes using:move-handto keep robot motion the same even with new:move-hand. I searched all codes under this repository: