Usage of Baxter¶
How to control baxter via roseus
preparation¶
Run below under emacs’s shell environment (M-x shell).
roseusWhen you start new shell, DO NOT FORGET to run:
rossetip rossetmaster baxter source ~/catkin_ws/devel/setup.bash
Set baxter-interface
;;load modules (load "package://jsk_arc2017_baxter/euslisp/lib/arc-interface.l") ;;create a robot model(*baxter*) and make connection to the real robot(*ri*) (jsk_arc2017_baxter::arc-init) ;; display the robot model (objects (list *baxter*))
arc-interface function APIs¶
rotate left(right) gripper
(send *baxter* :rotate-gripper :larm 90 :relative nil)
slide right gripper
(send *baxter* :slide-gripper :rarm 50 :relative nil)
move fingers in right gripper
(send *baxter* :hand :rarm :angle-vector #f(90 90)) (send *baxter* :hand-grasp-pre-pose :rarm :opposed) (send *baxter* :hand-grasp-pose :rarm :cylindrical)
send initial pose for arc2017
(send *baxter* :fold-pose-back)
send current joint angles of robot model to real robot
(send *ti* :send-av)
send current hand joint angles of robot model to real robot
(send *ri* :move-hand :rarm (send *baxter* :hand :rarm :angle-vector) 1000)