[WIP] Fix duration handling in :move-hand

[pazeshun]

I'm sorry, this is my BIG fault....
Currently, the duration (tm) passed to :move-hand is rounded down to a multiple of 1000:

jsk_apc/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l

Line 231 in 2553b55

:time_from_start (ros::time (/ tm 1000)))))

This PR fixes it by changing 1000 to 1000.0.
In addition, this PR fixes codes using :move-hand to keep robot motion the same even with new :move-hand.
I searched all codes under this repository:

$ pwd
/home/pazeshun/ros/ws_jsk_apc/src/start-jsk/jsk_apc
$ git fetch --all
Fetching origin
Fetching pazeshun
$ git status
ブランチ master
Your branch is up-to-date with 'origin/master'.
nothing to commit, working directory clean
$ grep -r ":move-hand" -A 1
doc/jsk_arc2017_baxter/usage_of_baxter.rst:    (send *ri* :move-hand :rarm (send *baxter* :hand :rarm :angle-vector) 1000)
doc/jsk_arc2017_baxter/usage_of_baxter.rst-
--
jsk_arc2017_baxter/euslisp/lib/pick-interface.l:      (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/pick-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
jsk_arc2017_baxter/euslisp/lib/stow-interface.l:      (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/stow-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:    (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:    (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:            (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-                  (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:            (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-                  (send *baxter* :hand-grasp-pose arm :spherical :angle 90) 1000
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:            (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-                  (send *baxter* :hand-grasp-pose arm :cylindrical :angle 90) 1000)))
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-      ;; Picking trials in the bin
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:          (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-                (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)))
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000 :wait nil)
--
jsk_arc2017_baxter/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/lib/arc-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000)
--
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l:  (:move-hand
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l-    (arm av tm &key (wait t))
--
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l:          (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%"
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l-                           (send res :error_code) (send res :error_string)))
--
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l:               (send self :move-hand l/r finger-av 2000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l-               (dotimes (x 100)
--
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l-                     (dotimes (x 100)
--
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l-                     (dotimes (x 100)
--
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l:                 (send self :move-hand l/r finger-av 1000))
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l-               (setq prev-av (send robot :angle-vector))
--
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l:               (send self :move-hand l/r finger-av 1000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l-               (if (> (aref finger-av 0) 45)
--
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l:  (:move-hand
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l-    (arm av tm &key (wait t))
--
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l:          (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%"
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l-                           (send res :error_code) (send res :error_string)))
--
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l:               (send self :move-hand l/r finger-av 2000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l-               (dotimes (x 100)
--
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l-                     (dotimes (x 100)
--
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l-                     (dotimes (x 100)
--
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l:                 (send self :move-hand l/r finger-av 1000))
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l-               (setq prev-av (send robot :angle-vector))
--
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l:               (send self :move-hand l/r finger-av 1000 :wait nil)
jsk_arc2017_baxter/euslisp/lib/baxter-interface.l-               (if (> (aref finger-av 0) 45)
--
jsk_arc2017_baxter/euslisp/test/test-baxter-interface.l:  (send *ri* :move-hand :larm #f(10 20) 1000 :wait nil)
jsk_arc2017_baxter/euslisp/test/test-baxter-interface.l:  (send *ri* :move-hand :rarm #f(10 20) 1000 :wait nil))
jsk_arc2017_baxter/euslisp/test/test-baxter-interface.l-
--
jsk_arc2017_baxter/euslisp/test/test-baxterlgv7-interface.l:  (send *ri* :move-hand :larm #f(10 20 30) 1000 :wait nil)
jsk_arc2017_baxter/euslisp/test/test-baxterlgv7-interface.l:  (send *ri* :move-hand :rarm #f(10 20) 1000 :wait nil))
jsk_arc2017_baxter/euslisp/test/test-baxterlgv7-interface.l-
--
jsk_arc2017_baxter/euslisp/pick-main.l:  (send *ri* :move-hand :rarm
jsk_arc2017_baxter/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
jsk_arc2017_baxter/euslisp/pick-main.l:  (send *ri* :move-hand :larm
jsk_arc2017_baxter/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
jsk_arc2017_baxter/euslisp/pick-main.l:  (send *ri* :move-hand :rarm
jsk_arc2017_baxter/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
jsk_arc2017_baxter/euslisp/pick-main.l:  (send *ri* :move-hand :larm
jsk_arc2017_baxter/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l:    (send *ri* :move-hand :larm l-finger-av 2000 :wait nil)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l:    (send *ri* :move-hand :rarm r-finger-av 2000 :wait t)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l-
--
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l:    (send *ri* :move-hand :larm l-finger-av 2000 :wait nil)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l:    (send *ri* :move-hand :rarm r-finger-av 2000 :wait t)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l-
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l:    (send *ri* :move-hand :larm l-finger-av-init 2000 :wait nil)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l:    (send *ri* :move-hand :rarm r-finger-av-init 2000 :wait t)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-baxterlgv7.l-    )
--
jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l:      (send *ri* :move-hand arm finger-av 2000 :wait t)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l-
--
jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l:      (send *ri* :move-hand arm finger-av 2000 :wait t)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l-
jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l:      (send *ri* :move-hand arm finger-av-init 2000 :wait t)
jsk_arc2017_baxter/euslisp/sanity-check-gripper-v6.l-      )
--
jsk_arc2017_baxter/euslisp/check-pinch-graspability.l:    (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/check-pinch-graspability.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
jsk_arc2017_baxter/euslisp/check-pinch-graspability.l:    (send *ri* :move-hand arm
jsk_arc2017_baxter/euslisp/check-pinch-graspability.l-          (send *baxter* :hand-grasp-pose arm :cylindrical :angle 110) 1000)
--
jsk_arc2017_baxter/euslisp/check-pinch-graspability.l:  (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000)
jsk_arc2017_baxter/euslisp/check-pinch-graspability.l-  (send *ri* :start-grasp arm)
--
jsk_arc2017_baxter/euslisp/check-pinch-graspability.l:  (send *ri* :move-hand :rarm (send *baxter* :hand :rarm :angle-vector #f(90 0)) 1000))
--
jsk_arc2017_baxter/euslisp/stow-main.l:  (send *ri* :move-hand :rarm
jsk_arc2017_baxter/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
jsk_arc2017_baxter/euslisp/stow-main.l:  (send *ri* :move-hand :larm
jsk_arc2017_baxter/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
jsk_arc2017_baxter/euslisp/stow-main.l:  (send *ri* :move-hand :rarm
jsk_arc2017_baxter/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
jsk_arc2017_baxter/euslisp/stow-main.l:  (send *ri* :move-hand :larm
jsk_arc2017_baxter/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/stow-interface.l:      (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/stow-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:    (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:    (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:            (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-                  (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:            (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-                  (send *baxter* :hand-grasp-pose arm :spherical :angle 90) 1000
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:            (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-                  (send *baxter* :hand-grasp-pose arm :cylindrical :angle 90) 1000)))
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-      ;; Picking trials in the bin
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:          (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-                (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)))
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :spherical) 1000 :wait nil)
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000)
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-            (send *baxter* :hand-grasp-pose arm :opposed
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :opposed) 1000)
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-      (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t))
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-            (send *baxter* :hand-grasp-pose arm :opposed
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :opposed) 1000)
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-      (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t))
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-            (send *baxter* :hand-grasp-pose arm :opposed
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000)
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-      (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t))
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l:      (send *ri* :move-hand arm (send *baxter* :hand-grasp-pose arm :opposed) 1000)
demos/grasp_fusion/ros/grasp_fusion/euslisp/lib/arc-interface.l-      (send *baxter* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t))
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l:  (send *ri* :move-hand :rarm
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l:  (send *ri* :move-hand :larm
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l:  (send *ri* :move-hand :rarm
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l:  (send *ri* :move-hand :larm
demos/grasp_fusion/ros/grasp_fusion/euslisp/eval-picking.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l:  (send *ri* :move-hand :rarm
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l:  (send *ri* :move-hand :larm
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l:  (send *ri* :move-hand :rarm
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l:  (send *ri* :move-hand :larm
demos/grasp_fusion/ros/grasp_fusion/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      (send *ri* :move-hand arm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-      ;       (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-      ;       (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
--
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-            (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-            (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait t)
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-      ;       (send *baxter* :hand-grasp-pose :larm :spherical :angle 90) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-      ;       (send *baxter* :hand-grasp-pose :rarm :spherical :angle 90) 1000 :wait nil)
--
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :larm (send *baxter* :hand-grasp-pose :larm :cylindrical) 1000)
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :rarm (send *baxter* :hand-grasp-pose :rarm :cylindrical) 1000)
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-      ; (send *ri* :wait-interpolation)
--
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-      ;       (send *baxter* :hand-grasp-pre-pose :larm :spherical) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l:      ; (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/lib/dualarm-grasp-interface.l-      ;       (send *baxter* :hand-grasp-pre-pose :rarm :spherical) 1000 :wait nil)
--
demos/selective_dualarm_grasping/euslisp/test-grasp.l:  (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/test-grasp.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/test-grasp.l:  (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/test-grasp.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/selective_dualarm_grasping/euslisp/test-grasp.l:  (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/test-grasp.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/test-grasp.l:  (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/test-grasp.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l:  (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l:  (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l:  (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l:  (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l:  (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l:  (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l:  (send *ri* :move-hand :rarm
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l:  (send *ri* :move-hand :larm
demos/selective_dualarm_grasping/euslisp/sampling-grasp.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/instance_occlsegm/ros/synthetic2d/euslisp/pick.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 90) 1000 :wait nil)
demos/instance_occlsegm/ros/synthetic2d/euslisp/pick.l-  (let (c)
--
demos/baxtergv6_apc2016/euslisp/lib/pick-interface.l:      (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/pick-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l:      (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l:          (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l-                (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait t)
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l:          (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l-                (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l:          (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/stow-interface.l-                (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:    (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:    (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:            (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                  (send *baxter* :hand-grasp-pre-pose arm
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:            (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                  (send *baxter* :hand-grasp-pose arm
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:            (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                  (send *baxter* :hand-grasp-pose arm :cylindrical :angle 90)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:      (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-            (send *baxter* :hand-grasp-pre-pose arm
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:          (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)))
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:            (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                  (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:                (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                      (send *baxter* :hand-grasp-pose arm support-style) 1000)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:                (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                      (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:            (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                  (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:                (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                      (send *baxter* :hand-grasp-pose arm support-style) 1000)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:                (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-                      (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:      (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil)
--
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l:      (send *ri* :move-hand arm
demos/baxtergv6_apc2016/euslisp/lib/apc-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000)
--
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l:  (:move-hand
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l-    (arm av tm &key (wait t))
--
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l:          (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%"
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l-                           (send res :error_code) (send res :error_string)))
--
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l:               (send self :move-hand l/r finger-av 2000 :wait nil)
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l-               (dotimes (x 100)
--
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l-                     (dotimes (x 100)
--
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l-                     (dotimes (x 100)
--
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l:                 (send self :move-hand l/r finger-av 1000))
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l-               (setq prev-av (send robot :angle-vector))
--
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l:               (send self :move-hand l/r finger-av 1000 :wait nil)
demos/baxtergv6_apc2016/euslisp/lib/baxter-interface.l-               (if (> (aref finger-av 0) 45)
--
demos/baxtergv6_apc2016/euslisp/pick-main.l:  (send *ri* :move-hand :rarm
demos/baxtergv6_apc2016/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/baxtergv6_apc2016/euslisp/pick-main.l:  (send *ri* :move-hand :larm
demos/baxtergv6_apc2016/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/baxtergv6_apc2016/euslisp/pick-main.l:  (send *ri* :move-hand :rarm
demos/baxtergv6_apc2016/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/baxtergv6_apc2016/euslisp/pick-main.l:  (send *ri* :move-hand :larm
demos/baxtergv6_apc2016/euslisp/pick-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l:  (send *ri* :move-hand :rarm
demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l-        (send *baxter* :hand-grasp-pose :rarm :cylindrical :angle 40) 1000)
--
demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l:  (send *ri* :move-hand :rarm
demos/baxtergv6_apc2016/euslisp/eval-prox-and-flex.l-        (send *baxter* :hand-grasp-pose :rarm :cylindrical) 1000)
--
demos/baxtergv6_apc2016/euslisp/stow-main.l:  (send *ri* :move-hand :rarm
demos/baxtergv6_apc2016/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/baxtergv6_apc2016/euslisp/stow-main.l:  (send *ri* :move-hand :larm
demos/baxtergv6_apc2016/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/baxtergv6_apc2016/euslisp/stow-main.l:  (send *ri* :move-hand :rarm
demos/baxtergv6_apc2016/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/baxtergv6_apc2016/euslisp/stow-main.l:  (send *ri* :move-hand :larm
demos/baxtergv6_apc2016/euslisp/stow-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l:  (:move-hand
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l-    (arm av tm &key (wait t))
--
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l:          (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%"
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l-                           (send res :error_code) (send res :error_string)))
--
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l:               (send self :move-hand l/r finger-av 2000 :wait nil)
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l-               (dotimes (x 100)
--
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l-                     (dotimes (x 100)
--
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l:                     (send self :move-hand l/r finger-av 4000 :wait nil)
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l-                     (dotimes (x 100)
--
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l:                 (send self :move-hand l/r finger-av 1000))
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l-               (setq prev-av (send robot :angle-vector))
--
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l:               (send self :move-hand l/r finger-av 1000 :wait nil)
demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l-               (if (> (aref finger-av 0) 45)
--
demos/sphand_ros/sphand_driver/euslisp/test/test-baxterlgv8-interface.l:  (send *ri* :move-hand :larm #f(10 20 30) 1000 :wait nil)
demos/sphand_ros/sphand_driver/euslisp/test/test-baxterlgv8-interface.l:  (send *ri* :move-hand :rarm #f(10 20) 1000 :wait nil))
demos/sphand_ros/sphand_driver/euslisp/test/test-baxterlgv8-interface.l-
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:  (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-        (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:  (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-        (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500)
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 0) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500)
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 80) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pose *arm* :opposed :angle 100) 1500)
--
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l:    (send *ri* :move-hand *arm*
demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l-          (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:    (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:    (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:    (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:          (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:        (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-              (send *baxter* :hand arm :angle-vector (float-vector finger-yaw 75 75)) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:            (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                  (send *baxter* :hand-grasp-pose arm :cylindrical :angle 100) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:            (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                  (send *baxter* :hand-grasp-pose arm :cylindrical) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:            (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                  (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:            (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                  (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pose arm support-style) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:            (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                  (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pose arm support-style) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-base-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000)))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000)))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l:        (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l-              (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l:        (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/lib/pick-book-interface.l-              (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l:  (send *ri* :move-hand :rarm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l:  (send *ri* :move-hand :larm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l:  (send *ri* :move-hand :rarm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l:  (send *ri* :move-hand :larm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_mthesis/pick-book-eval.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l:  (send *ri* :move-hand :rarm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000 :wait nil)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l:  (send *ri* :move-hand :larm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l:  (send *ri* :move-hand :rarm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1000 :wait nil)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l:  (send *ri* :move-hand :larm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa-iros2018-main.l-        (send *baxter* :hand-grasp-pre-pose :larm :opposed) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:    (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:    (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:    (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:          (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:          (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                (send *baxter* :hand-grasp-pose arm :cylindrical :angle 100) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:              (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                    (send *baxter* :hand-grasp-pose arm :cylindrical) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:              (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                    (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:            (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                  (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pose arm support-style) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:            (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                  (send *baxter* :hand-grasp-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pose arm support-style) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:                (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-                      (send *baxter* :hand-grasp-pre-pose arm support-style) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-base-interface.l-            (send *baxter* :hand-grasp-pose arm :cylindrical :angle 40) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l-            (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000 :wait nil)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000)))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l:      (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l-          (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000)))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l:        (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l-              (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1000)
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l:        (send *ri* :move-hand arm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/lib/pick-book-interface.l-              (send *baxter* :hand-grasp-pre-pose arm :opposed) 1000))
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l:  (send *ri* :move-hand :rarm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l:  (send *ri* :move-hand :rarm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l-        (send *baxter* :hand-grasp-pose :rarm :cylindrical) 1000)
--
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l:  (send *ri* :move-hand :rarm
demos/grasp_prediction_arc2017/ros/grasp_prediction_arc2017/euslisp/hasegawa_iros2018/pick-book-gripper-v6.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1000)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:  (:move-hand
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-    (arm av tm &key (wait t))
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:            (warning-message 3 ":move-hand error code ~A returns from JTA: ~A~%"
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-                              (send res :error_code) (send res :error_string)))
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:            (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-                  (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:      (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-            (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:      (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-            (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:        (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-              (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:               (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-                     (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:               (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-                     (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:      (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-            (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l:      (send self :move-hand arm
jsk_2016_01_baxter_apc/euslisp/lib/baxterrgv5-interface.l-            (send *baxter* :hand arm :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-        (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-        (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-        (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:    (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-          (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:    (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-          (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-        (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:    (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-          (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-        (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:    (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-          (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-        (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:    (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-          (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l:    (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l-          (send *baxter* :hand *arm* :angle-vector) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unless (wait-user "Release object?") (return-from opposed-with-suction nil))
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :stop-grasp *arm*)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unless (wait-user "Release object?") (return-from opposed-without-suction nil))
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  )
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :spherical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unless (wait-user "Release object?") (return-from spherical-with-suction nil))
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :stop-grasp *arm*)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :spherical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unless (wait-user "Release object?") (return-from spherical-without-suction nil))
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :spherical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  )
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unless (wait-user "Release object?") (return-from cylindrical-with-suction nil))
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :stop-grasp *arm*)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:     (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-     (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:     (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-     (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:     (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-     (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unix::sleep 1)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  )
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unix::sleep 1)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  )
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (unix::sleep 1)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  )
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  )
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pose *arm* :cylindrical) 3000)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  (send *ri* :wait-interpolation)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l:  (send *ri* :move-hand *arm* (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/simple-grasping.l-  )
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l:      (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l-            (send *baxter* :hand-grasp-pre-pose *arm* (send *ri* :get-val '_grasp-style)) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l:      (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l-            (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pose *arm* :opposed :angle 130) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pose *arm* :opposed :angle 130) 1500)
--
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l:  (send *ri* :move-hand *arm*
jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/test-actuators.l-        (send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
--
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l:  (send *ri* :move-hand :rarm
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l-        (send *baxter* :hand-grasp-pre-pose :rarm :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l:  (send *ri* :move-hand :rarm
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l-        (send *baxter* :hand-grasp-pre-pose :rarm :opposed) 1500)
--
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l:                  (send *ri* :move-hand arm
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l-                        (send *baxter* :hand-grasp-pre-pose arm :cylindrical) 1500)
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l:                  (send *ri* :move-hand arm
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l-                        (send *baxter* :hand-grasp-pre-pose arm :opposed) 1500)
--
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l:              (send *ri* :move-hand arm
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l-                    (send *baxter* :hand-grasp-pre-pose arm (send *ri* :get-val '_grasp-style))
--
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l:              (send *ri* :move-hand arm
jsk_2016_01_baxter_apc/euslisp/main-rgv5.l-                    (send *baxter* :hand-grasp-pre-pose arm :opposed) 1500)

[pazeshun]

Not confirmed by the real robot