diff --git a/20150708/README.md b/20150708/README.md
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+# homework 20150708
+
+update source code
+```bash
+git checkout -b otsubo/sample-basket-update
+git pull otsubo samplerobot-basket-update
+```
+
+launch gazebo
+```bash
+# terminal 1
+roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers_basket.launch
+```
+
+launch hrpsys
+```bash
+# terminal 2
+rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch
+```
+
+control robot
+```bash
+# terminal 3
+roscd hrpsys_gazebo_tutorials/euslisp
+emacs -nw samplerobot-reaching2.l
+
+# in Shell
+(main)
+#in (main)
+(roseus samplerobot-reaching2.l)
+(send *ri* :calibrate-inertia-sensor)
+(send *ri* :start-auto-balancer)
+(send *ri* :start-st)
+(send *ri* :start-impedance :arms)
+(reaching-pose)
+(send *ri* :go-pos 0.2 0 0)
+(grasp)
+(reaching-pose2)
+(send *ri* :go-pos 0 0.5 0)
+(send *ri* :go-pos 0 0.5 0)
+(reaching-pose)
+```
+
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