From a32303d41200e6beb8ef8daa7fdeb14dd2c7272d Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Sat, 12 Dec 2020 22:55:58 +0900 Subject: [PATCH] [pr2eus/pr2-ri-test-simple] add :robot-interface-simulation-callback --- pr2eus/test/pr2-ri-test-simple.l | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/pr2eus/test/pr2-ri-test-simple.l b/pr2eus/test/pr2-ri-test-simple.l index 1305687b8..d4a2ad082 100644 --- a/pr2eus/test/pr2-ri-test-simple.l +++ b/pr2eus/test/pr2-ri-test-simple.l @@ -104,8 +104,10 @@ ;;(setq *ri* (instance pr2-interface :init)) (send *pr2* :reset-manip-pose) (send *ri* :robot :reset-manip-pose) + (send *ri* :robot-interface-simulation-callback) (dolist (inc (list 10 -10)) (send *ri* :robot :larm :elbow-r :joint-angle 0) + (send *ri* :robot-interface-simulation-callback) (setq angle 0.0) (setq diff 0.0) (do ((i 0 (incf i inc))) @@ -125,6 +127,7 @@ (let (msg) (send *pr2* :reset-manip-pose) (send *ri* :robot :reset-manip-pose) + (send *ri* :robot-interface-simulation-callback) (dolist (angle (list 60 420 780)) (send *pr2* :larm :elbow-r :joint-angle angle) (send-message *ri* robot-interface :angle-vector (send *pr2* :angle-vector) 500) @@ -143,6 +146,7 @@ (let (msg) (send *pr2* :reset-manip-pose) (send *ri* :robot :reset-manip-pose) + (send *ri* :robot-interface-simulation-callback) (dolist (angle (list -60 -420 -780)) (send *pr2* :larm :elbow-r :joint-angle angle) (send-message *ri* robot-interface :angle-vector (send *pr2* :angle-vector) 500)