{"action":"created","issue":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/348","labels_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/348/labels{/name}","comments_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/348/comments","events_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/348/events","html_url":"https://github.com/jsk-ros-pkg/jsk_robot/issues/348","id":87704695,"number":348,"title":"To-do List","user":{"login":"jiangjun0105","id":8521008,"avatar_url":"https://avatars.githubusercontent.com/u/8521008?v=3","gravatar_id":"","url":"https://api.github.com/users/jiangjun0105","html_url":"https://github.com/jiangjun0105","followers_url":"https://api.github.com/users/jiangjun0105/followers","following_url":"https://api.github.com/users/jiangjun0105/following{/other_user}","gists_url":"https://api.github.com/users/jiangjun0105/gists{/gist_id}","starred_url":"https://api.github.com/users/jiangjun0105/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jiangjun0105/subscriptions","organizations_url":"https://api.github.com/users/jiangjun0105/orgs","repos_url":"https://api.github.com/users/jiangjun0105/repos","events_url":"https://api.github.com/users/jiangjun0105/events{/privacy}","received_events_url":"https://api.github.com/users/jiangjun0105/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":21,"created_at":"2015-06-12T11:47:45Z","updated_at":"2015-06-24T13:14:30Z","closed_at":null,"body":"- [x] ペッパーの手を引っ張って、トルクの値を見る\r\n- [x] Rvizでペッパーのトルクの値を矢印で表示する\r\n- [ ] ペッパーに矢印の向きに移動してもらう\r\n- [ ] 手のタッチセンサを使う\r\n  - [ ] NAOqi でタッチセンサを使う\r\n  - [ ] うまく行ければ、ROSのコードを書く\r\n  - [ ] euslispのコードを書く\r\n- [ ] 触ったら、手を上に上げる\r\n- [ ] 引っ張ったら、付いてくる\r\n\r\ncc: @kochigami "},"comment":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/comments/114863773","html_url":"https://github.com/jsk-ros-pkg/jsk_robot/issues/348#issuecomment-114863773","issue_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/348","id":114863773,"user":{"login":"kochigami","id":7259671,"avatar_url":"https://avatars.githubusercontent.com/u/7259671?v=3","gravatar_id":"","url":"https://api.github.com/users/kochigami","html_url":"https://github.com/kochigami","followers_url":"https://api.github.com/users/kochigami/followers","following_url":"https://api.github.com/users/kochigami/following{/other_user}","gists_url":"https://api.github.com/users/kochigami/gists{/gist_id}","starred_url":"https://api.github.com/users/kochigami/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kochigami/subscriptions","organizations_url":"https://api.github.com/users/kochigami/orgs","repos_url":"https://api.github.com/users/kochigami/repos","events_url":"https://api.github.com/users/kochigami/events{/privacy}","received_events_url":"https://api.github.com/users/kochigami/received_events","type":"User","site_admin":false},"created_at":"2015-06-24T13:14:29Z","updated_at":"2015-06-24T13:14:29Z","body":"I found the way of keeping pepper's wheel servo on.\r\n1. \"consent for the deactivation of safety reflexes (the owner consent)\" in http://doc.aldebaran.com/2-1/nao/nao-webpage.html\r\n2. Then, \"collision protection disabled on \"Move\" in http://doc.aldebaran.com/2-1/naoqi/motion/reflexes-external-collision-api.html?highlight=collision%20disabled#ALMotionProxy::setExternalCollisionProtectionEnabled__ssCR.bCR\r\nNow I can move pepper with grasping his or her hand :)\r\n\r\nHowever, in terms of safety, this method is sometimes dangerous.\r\nFor example, Pepper can move with his or her charger flap open, pepper continues to move if the bumper collides obstacles, pepper can't take a safety pose if someone bend pepper's body.   \r\n\r\nAlthough there are some problems, we can go to next step!\r\n(I want to move with pepper because what I did is only rotating pepper in a direction I pulled pepper's arm.)"}}