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[hrpsys_ros_bridge_tutorials] overwrite HRP2JSKNT* by HRP2JSKNT*_WITH…
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…_3HAND
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@Naoki-Hiraoka
Naoki-Hiraoka committed Jun 23, 2021
1 parent 4e79c8e commit 3a09f7e
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Showing 16 changed files with 112 additions and 933 deletions.
128 changes: 29 additions & 99 deletions hrpsys_ros_bridge_tutorials/CMakeLists.txt
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2 changes: 1 addition & 1 deletion hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l
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@@ -1,5 +1,5 @@
(load "package://hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l")
(require :hrp2jsknt "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknt_with_3hand.l")
(require :hrp2jsknt "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l")
(when (probe-file (ros::resolve-ros-path "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l"))
(require :hrp2jsknt-utils "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l"))
(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2-common-interface.l")
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4 changes: 2 additions & 2 deletions hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l
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@@ -1,4 +1,4 @@
(require :hrp2jsknt "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknt_with_3hand.l")
(require :hrp2jsknt "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknt.l")
(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp3hand-utils.l")

(eval
Expand All @@ -11,7 +11,7 @@
(prog1
(send-super* :init-ending args)
(send self :set-additional-end-coords)
;;(send self :define-min-max-table)
(send self :define-min-max-table)
(when (< (norm (send (send (send self :worldcoords) :transformation
(send (car (send self :links)) :worldcoords)) :pos))
0.1)
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2 changes: 1 addition & 1 deletion hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-interface.l
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@@ -1,5 +1,5 @@
(load "package://hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l")
(require :hrp2jsknts "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknts_with_3hand.l")
(require :hrp2jsknts "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l")
(when (probe-file (ros::resolve-ros-path "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l"))
(require :hrp2jsknts-utils "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l"))
(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2-common-interface.l")
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4 changes: 2 additions & 2 deletions hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l
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@@ -1,4 +1,4 @@
(load "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknts_with_3hand.l")
(require :hrp2jsknts "package://hrpsys_ros_bridge_tutorials/models/hrp2jsknts.l")
(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp3hand-utils.l")

(eval
Expand All @@ -10,7 +10,7 @@
(&rest args)
(prog1
(send-super* :init-ending args)
;;(send self :define-min-max-table)
(send self :define-min-max-table)
(when (< (norm (send (send (send self :worldcoords) :transformation
(send (car (send self :links)) :worldcoords)) :pos))
0.1)
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6 changes: 5 additions & 1 deletion hrpsys_ros_bridge_tutorials/euslisp/hrp3hand-utils.l
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Expand Up @@ -42,5 +42,9 @@
(send self :limb :rhand :angle-vector)
(send self :limb :lhand :angle-vector))
)
)
(:collision-check-pairs
(&key ((:links ls) (set-difference (cons (car links) (all-child-links (car links)))
(append (send self :limb :rhand :links) (send self :limb :lhand :links)))))
(send-super :collision-check-pairs :links ls))
)
)
14 changes: 13 additions & 1 deletion hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat
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Expand Up @@ -31,4 +31,16 @@
1400 100
460 100
1870 100
0 0
0 0
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
4 changes: 1 addition & 3 deletions hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro
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@@ -1,7 +1,5 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
<xacro:include filename="HRP2JSKNT_body.urdf" />
<xacro:include filename="HRP3HAND_L.urdf" />
<xacro:include filename="HRP3HAND_R.urdf" />
<xacro:include filename="HRP2JSKNT.urdf" />
<xacro:include filename="$(find multisense_description)/urdf/multisenseSL.urdf" />
<joint name="hrp2_to_multisense" type="fixed">
<parent link="HEAD_LINK1" />
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14 changes: 13 additions & 1 deletion hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat
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Expand Up @@ -31,4 +31,16 @@
1400 100
460 100
1870 100
0 0
0 0
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
50 10
11 changes: 0 additions & 11 deletions hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro
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46 changes: 0 additions & 46 deletions hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WITH_3HAND.PDgain.dat
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46 changes: 0 additions & 46 deletions hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WITH_3HAND.PDgain.dat
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27 changes: 23 additions & 4 deletions hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml
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@@ -1,6 +1,7 @@
##
## - collada_joint_name : euslisp_joint_name (start with :)
##
limbs: [rleg, lleg, torso, head, rarm, larm, rhand, lhand]

rleg:
- RLEG_JOINT0 : rleg-crotch-y
Expand All @@ -19,8 +20,8 @@ lleg:
- LLEG_JOINT5 : lleg-ankle-r
- LLEG_JOINT6 : lleg-toe-p
torso:
- CHEST_JOINT0 : torso-waist-y
- CHEST_JOINT1 : torso-waist-p
- CHEST_JOINT0 : torso-waist-p
- CHEST_JOINT1 : torso-waist-y
head:
- HEAD_JOINT0 : head-neck-y
- HEAD_JOINT1 : head-neck-p
Expand All @@ -42,6 +43,20 @@ larm:
- LARM_JOINT5 : larm-wrist-r
- LARM_JOINT6 : larm-wrist-p
- LARM_JOINT7 : larm-thumb-r
rhand:
- R_THUMBCM_Y : rarm-t-1y
- R_THUMBCM_P : rarm-t-1p
- R_INDEXMP_R : rarm-f1-1r
- R_INDEXMP_P : rarm-f1-1p
- R_INDEXPIP_R : rarm-f1-2r
- R_MIDDLEPIP_R : rarm-f2-2r
lhand:
- L_THUMBCM_Y : larm-t-1y
- L_THUMBCM_P : larm-t-1p
- L_INDEXMP_R : larm-f1-1r
- L_INDEXMP_P : larm-f1-1p
- L_INDEXPIP_R : larm-f1-2r
- L_MIDDLEPIP_R : larm-f2-2r

##
## end-coords
Expand Down Expand Up @@ -140,13 +155,17 @@ angle-vector:
0.0, 0.0,
0.0, 0.0,
10.0, -10.0, 0.0, -25.0, 0.0, 0.0, -10.0, 15.0,
10.0, 10.0, 0.0, -25.0, 0.0, 0.0, -10.0, -15.0]
10.0, 10.0, 0.0, -25.0, 0.0, 0.0, -10.0, -15.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
reset-manip-pose : [0.0, 0.0, -26.0, 50.0, -24.0, 0.0, 0.0,
0.0, 0.0, -26.0, 50.0, -24.0, 0.0, 0.0,
0.0, 0.0,
0.0, 40.0,
50.0, -30.0, -10.0, -120.0, -25.0, -5.0, -20.0, 60.0,
50.0, 30.0, 10.0, -120.0, 25.0, 5.0, -20.0, -60.0]
50.0, 30.0, 10.0, -120.0, 25.0, 5.0, -20.0, -60.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
# for gazebo simulation
replace_xmls:
- match_rule:
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