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CMakeLists.txt
README.md
aero-hand.l
aero-interface.l
aero-moveit.l
aero-torso.l
aero-utils.l
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package.xml

README.md

aeroeus

This is EUSLISP interface to control aero.

Build aeroeus

catkin build aeroeus  # nothing to build, to recognize from rospack
source ~/.bashrc

Create eusmodel

rosrun euscollada collada2eus $(rospack find aero_description)/robots/aero.urdf $(rospack find aero_description)/robots/aero.yaml aero.l

Run euslisp

roseus
$ load "package://aeroeus/aero-interface.l"

To create aero model

(aero-robot)
(objects (list *aero*))

To initialize eus interface,

(aero-init)
(objects (list *aero*))

Then, you can control AERO from euslisp, like

(send *aero* :reset-pose)
(send *ri* :angle-vector (send *aero* :angle-vector) 5000)

Solving iverse kinematics

(setq target-coords (send *aero* :larm :end-coords :copy-worldcoords))
(send *aero* :set-from-IK target-coords :arm {:larm :rarm :both-arm} :range {:arm :upper-body :whole-body} :end-effector {:hand :grasp :pick :index :thumb })

Both arm manipulatrion

(setq rtgt (send *aero* :rarm :end-coords :copy-worldcoords))
(setq ltgt (send *aero* :larm :end-coords :copy-worldcoords))
(send *aero* :inverse-kinematics (list rtgt ltgt) :ik-group :both-arm)
(send *aero* :set-from-IK (list rtgt ltgt) :arm :both-arm :range {:arm :upper-body :whole-body} :end-effector {:hand :grasp :pick :index :thumb })

Getting end-effector

(send *aero* :ik-target :arm {:larm :rarm :both-arm} :name {:hand :grasp :pick :index :thumb })
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