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update test used on pr1040
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@tarukosu
tarukosu committed Feb 15, 2014
1 parent ec953f0 commit d682711
Showing 1 changed file with 31 additions and 0 deletions.
31 changes: 31 additions & 0 deletions pr2eus_impedance/test/test-impedance.l
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,37 @@
(send *ri* :stop-impedance :rarm)
)

(send *ri* :start-impedance :rarm)
(send *ri* :start-impedance-trajectory
:rarm (list (list (make-coords :pos #f(500 0 700) :rpy (list 0 0 pi/2)) 2000.0
:control-rot (send (make-coords) :worldrot)
:target-force #f(1000 1000 1000 20 20 20)
:force-control (list nil nil nil nil nil nil))
(list (make-coords :pos #f(500 0 700) :rpy (list 0 0 pi/2)) 4000.0
:control-rot (send (make-coords) :worldrot)
:target-force #f(1000 1000 1000 20 20 20)
:force-control (list nil nil nil nil nil nil))))
(send *ri* :wait-impedance-trajectory :rarm 10)

(run-all-tests)
(exit)

(send *ri* :start-impedance-trajectory
:rarm (list (list (make-coords :pos #f(500 0 700) :rpy (list 0 0 pi/2)) 3000.0
:control-rot (send (make-coords) :worldrot)
:target-force #f(1000 1000 1000 20 20 20)
:force-control (list nil nil nil nil nil nil))
(list (make-coords :pos #f(500 0 700) :rpy (list 0 0 pi/2)) 3500.0
:control-rot (send (make-coords) :worldrot)
:target-force #f(1000 1000 1000 20 20 20)
:force-control (list nil nil nil nil nil nil))))

(send *ri* :start-impedance-trajectory
:rarm (list (list (make-coords :pos #f(500 0 700) :rpy (list 0 0 pi/2)) 500.0
:control-rot (send (make-coords) :worldrot)
:target-force #f(1000 1000 1000 20 20 20)
:force-control (list nil nil nil nil nil nil))
(list (make-coords :pos #f(750 0 700) :rpy (list 0 0 pi/2)) 8500.0
:control-rot (send (make-coords) :worldrot)
:target-force #f(1000 1000 1000 20 20 20)
:force-control (list nil nil nil nil nil nil))))

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