Keep robot motion the same even with new :move-hand

start-jsk · Jul 15, 2021 · d3b7b82 · d3b7b82
1 parent e5cecf5
commit d3b7b82
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Showing 8 changed files with 82 additions and 82 deletions.
diff --git a/demos/baxter_paper_filing/euslisp/baxterlgv8-sensor-eval.l b/demos/baxter_paper_filing/euslisp/baxterlgv8-sensor-eval.l
@@ -73,9 +73,9 @@
   (send *ri* :wait-interpolation)
   (unix::sleep 1)
   (send *ri* :move-hand :larm
-        (send *baxter* :hand :larm :angle-vector (float-vector 0 72 72)) 1500)
+        (send *baxter* :hand :larm :angle-vector (float-vector 0 72 72)) 1000)
   (send *ri* :move-hand :larm
-        (send *baxter* :hand :larm :angle-vector (float-vector 0 90 90)) 1500 :wait nil)
+        (send *baxter* :hand :larm :angle-vector (float-vector 0 90 90)) 1000 :wait nil)
   (let (cancel-func stopped-p l-prox r-prox l-thre r-thre l-refl r-refl)
     (if intensity
       (progn

diff --git a/demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l b/demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l
@@ -11,9 +11,9 @@
   (&key (type :lgripper-controller))
   (sphand_driver::baxterlgv8-init :type type)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
+        (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1000)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
+        (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
   (send *baxter* :rotate-gripper *arm* 0 :relative nil)
   (send *baxter* :slide-gripper *arm* 0 :relative nil)
   (send *ri* :angle-vector (send *baxter* :angle-vector))
@@ -25,33 +25,33 @@
   (when move-fingers
     ;; test of abduction/adduction
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
+          (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1000)
     (unix::sleep 2)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
+          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
     (unix::sleep 2)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500)
+          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1000)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 0) 1500)
+          (send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 0) 1000)
     (unix::sleep 2)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500)
+          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1000)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
+          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
     (unix::sleep 2)
     ;; test of closing fingers
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 80) 1500)
+          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 80) 1000)
     (unix::sleep 1)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
+          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
     (unix::sleep 1)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 100) 1500)
+          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 100) 1000)
     (unix::sleep 1)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500))
+          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000))
   ;; test of prismatic joint
   (send *baxter* :slide-gripper *arm* 206 :relative nil)
   (send *ri* :angle-vector (send *baxter* :angle-vector) :fast nil 0)

diff --git a/jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l b/jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l
@@ -34,7 +34,7 @@
         (send *baxter* :rotate-gripper *arm* 0 :relative nil)
         1500)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand *arm* :angle-vector) 1500)
+        (send *baxter* :hand *arm* :angle-vector) 1000)
   (send *ri* :spin-off-by-wrist *arm* :times 20)
   (send *ri* :gripper-servo-on *arm*)
   (send *ri* :wait-interpolation)
@@ -43,7 +43,7 @@
   (send *ri* :wait-interpolation)
   (send *baxter* :hand-grasp-pre-pose *arm* :opposed)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand *arm* :angle-vector) 1500)
+        (send *baxter* :hand *arm* :angle-vector) 1000)
   )
 
 
@@ -55,7 +55,7 @@
 
   (send *baxter* :hand-grasp-pre-pose *arm* :opposed)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand *arm* :angle-vector) 1500)
+        (send *baxter* :hand *arm* :angle-vector) 1000)
   (unix::sleep 3)
   (send *ri* :move-arm-body->bin *arm* *bin*)
   (send *ri* :wait-interpolation)
@@ -77,7 +77,7 @@
     (send *ri* :wait-interpolation)
     (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand *arm* :angle-vector) 1500)
+          (send *baxter* :hand *arm* :angle-vector) 1000)
     ;; approach to object
     (pushback (send *baxter* *arm* :move-end-pos #f(50 0 0) :world) avs)
     (pushback (send *baxter* *arm* :move-end-pos #f(50 0 0) :world) avs)
@@ -105,7 +105,7 @@
     (send *ri* :wait-interpolation)
     (send *baxter* :hand-grasp-pose *arm* :cylindrical)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand *arm* :angle-vector) 1500)
+          (send *baxter* :hand *arm* :angle-vector) 1000)
     ;; draw out object
     (pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
     (pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
@@ -137,7 +137,7 @@
 
   (send *baxter* :hand-grasp-pre-pose *arm* :opposed)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand *arm* :angle-vector) 1500)
+        (send *baxter* :hand *arm* :angle-vector) 1000)
   (unix::sleep 3)
   (send *ri* :move-arm-body->bin *arm* *bin*)
   (send *ri* :wait-interpolation)
@@ -181,7 +181,7 @@
     ;; grasp object by hand
     (send *baxter* :hand-grasp-pose *arm* :opposed)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand *arm* :angle-vector) 1500)
+          (send *baxter* :hand *arm* :angle-vector) 1000)
     ;; draw out object
     (pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
     (pushback (send *baxter* *arm* :move-end-pos #f(0 0 10) :world) avs)
@@ -217,7 +217,7 @@
 
   (send *baxter* :hand-grasp-pre-pose *arm* :opposed)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand *arm* :angle-vector) 1500)
+        (send *baxter* :hand *arm* :angle-vector) 1000)
   (unix::sleep 3)
   (send *ri* :move-arm-body->bin *arm* *bin*)
   (send *ri* :wait-interpolation)
@@ -261,7 +261,7 @@
     ;; grasp object by hand
     (send *baxter* :hand-grasp-pose *arm* :opposed)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand *arm* :angle-vector) 1500)
+          (send *baxter* :hand *arm* :angle-vector) 1000)
     ;; draw out object
     (pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
     (pushback (send *baxter* *arm* :move-end-pos #f(0 0 10) :world) avs)
@@ -297,7 +297,7 @@
 
   (send *baxter* :hand-grasp-pre-pose *arm* :opposed)
   (send *ri* :move-hand *arm*
-        (send *baxter* :hand *arm* :angle-vector) 1500)
+        (send *baxter* :hand *arm* :angle-vector) 1000)
   (unix::sleep 3)
   (send *ri* :move-arm-body->bin *arm* *bin*)
   (send *ri* :wait-interpolation)
@@ -331,7 +331,7 @@
     ;; prepare fingers
     (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand *arm* :angle-vector) 1500)
+          (send *baxter* :hand *arm* :angle-vector) 1000)
     (unix::sleep 3)
     ;; approach and drag object by sliding gripper
     (pushback (send *baxter* *arm* :move-end-pos #f(0 40 0) :world) avs)
@@ -344,7 +344,7 @@
     ;; grasp object by hand
     (send *baxter* :hand-grasp-pose *arm* :cylindrical)
     (send *ri* :move-hand *arm*
-          (send *baxter* :hand *arm* :angle-vector) 1500)
+          (send *baxter* :hand *arm* :angle-vector) 1000)
     (unix::sleep 3)
     ;; draw out object
     ;(pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)

diff --git a/jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l b/jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l
@@ -26,15 +26,15 @@
     (progn
       ;; gripper-v5
       (send *ri* :move-hand *arm*
-            (send *baxter* :hand-grasp-pre-pose *arm* (send *ri* :get-val '_grasp-style)) 1500)
+            (send *baxter* :hand-grasp-pre-pose *arm* (send *ri* :get-val '_grasp-style)) 1000)
       (send *baxter* :slide-gripper *arm* 100 :relative nil)
       (send *ri* :send-av 1000)
       (send *ri* :wait-interpolation)
       (send *baxter* :slide-gripper *arm* 0 :relative nil)
       (send *ri* :send-av 1000)
       (send *ri* :wait-interpolation)
       (send *ri* :move-hand *arm*
-            (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
+            (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
       (send *ri* :spin-off-by-wrist *arm* :times 5)
       )
     (send *ri* :spin-off-by-wrist arm :times 20)