diff --git a/hrpsys_ros_bridge_tutorials/CMakeLists.txt b/hrpsys_ros_bridge_tutorials/CMakeLists.txt index cbac2721..6953127f 100644 --- a/hrpsys_ros_bridge_tutorials/CMakeLists.txt +++ b/hrpsys_ros_bridge_tutorials/CMakeLists.txt @@ -151,7 +151,7 @@ compile_openhrp_model_for_closed_robots(HRP2JSK HRP2JSK_for_OpenHRP3 HRP2JSK gen_minmax_table_for_closed_robots(HRP2JSK HRP2JSK_for_OpenHRP3 HRP2JSK) -compile_openhrp_model_for_closed_robots(HRP2JSKNT HRP2JSKNT_for_OpenHRP3 HRP2JSKNT +compile_openhrp_model_for_closed_robots(HRP2JSKNT HRP2JSKNT_WITH_3HAND_for_OpenHRP3 HRP2JSKNT --conf-file-option "abc_leg_offset: 0.0,0.105,0.0" --conf-file-option "# 6dof joint version" --conf-file-option "#end_effectors: rleg,RLEG_JOINT5,WAIST,0.035589,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.035589,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," @@ -160,24 +160,25 @@ compile_openhrp_model_for_closed_robots(HRP2JSKNT HRP2JSKNT_for_OpenHRP3 HRP2JSK --conf-file-option "# Karasawa sole plate + 7dof joint version" --conf-file-option "end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.034,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.034,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," --conf-file-option "# for ThermoEstimator" - --conf-file-option "motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3" - --conf-file-option "motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0" + --conf-file-option "motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3" + --conf-file-option "motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0" --conf-file-option "alarm_ratio: 0.75" --conf-file-option "# for CollisionDetector" --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT6 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT6 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT6 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT6:LLEG_JOINT2 RLEG_JOINT6:LLEG_JOINT3 RLEG_JOINT6:LLEG_JOINT5 RLEG_JOINT6:LLEG_JOINT6 RLEG_JOINT6:CHEST_JOINT1 RLEG_JOINT6:RARM_JOINT3 RLEG_JOINT6:RARM_JOINT4 RLEG_JOINT6:RARM_JOINT5 RLEG_JOINT6:RARM_JOINT6 RLEG_JOINT6:LARM_JOINT3 RLEG_JOINT6:LARM_JOINT4 RLEG_JOINT6:LARM_JOINT5 RLEG_JOINT6:LARM_JOINT6 RLEG_JOINT6:WAIST LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT6:CHEST_JOINT1 LLEG_JOINT6:RARM_JOINT3 LLEG_JOINT6:RARM_JOINT4 LLEG_JOINT6:RARM_JOINT5 LLEG_JOINT6:RARM_JOINT6 LLEG_JOINT6:LARM_JOINT3 LLEG_JOINT6:LARM_JOINT4 LLEG_JOINT6:LARM_JOINT5 LLEG_JOINT6:LARM_JOINT6 LLEG_JOINT6:WAIST CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST" --conf-file-option "collision_model: convex hull" --conf-file-option "# for PDcontroller" - --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100" + --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100" --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/HRP2JSKNT.PDgain.dat" --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)" --conf-file-option "seq_optional_data_dim: 8" + --conf-file-option "mask_joint_limit: R_THUMBCM_Y,R_THUMBCM_P,R_INDEXMP_R,R_INDEXMP_P,R_INDEXPIP_R,R_MIDDLEPIP_R,L_THUMBCM_Y,L_THUMBCM_P,L_INDEXMP_R,L_INDEXMP_P,L_INDEXPIP_R,L_MIDDLEPIP_R" --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" --conf-dt-option "0.004" --simulation-timestep-option "0.004" ) -gen_minmax_table_for_closed_robots(HRP2JSKNT HRP2JSKNT_for_OpenHRP3 HRP2JSKNT) -compile_openhrp_model_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2JSKNTS +gen_minmax_table_for_closed_robots(HRP2JSKNT HRP2JSKNT_WITH_3HAND_for_OpenHRP3 HRP2JSKNT) +compile_openhrp_model_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_WITH_3HAND_for_OpenHRP3 HRP2JSKNTS --conf-file-option "abc_leg_offset: 0.0,0.105,0.0" --conf-file-option "# 6dof joint version" --conf-file-option "#end_effectors: rleg,RLEG_JOINT5,WAIST,0.035589,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.035589,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," @@ -186,23 +187,24 @@ compile_openhrp_model_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2J --conf-file-option "# Karasawa sole plate + 7dof joint version" --conf-file-option "end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.034,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.034,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," --conf-file-option "# for ThermoEstimator" - --conf-file-option "motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3" - --conf-file-option "motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0" + --conf-file-option "motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3" + --conf-file-option "motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0" --conf-file-option "alarm_ratio: 0.75" --conf-file-option "# for CollisionDetector" --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT6 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT6 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT6 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT6:LLEG_JOINT2 RLEG_JOINT6:LLEG_JOINT3 RLEG_JOINT6:LLEG_JOINT5 RLEG_JOINT6:LLEG_JOINT6 RLEG_JOINT6:CHEST_JOINT1 RLEG_JOINT6:RARM_JOINT3 RLEG_JOINT6:RARM_JOINT4 RLEG_JOINT6:RARM_JOINT5 RLEG_JOINT6:RARM_JOINT6 RLEG_JOINT6:LARM_JOINT3 RLEG_JOINT6:LARM_JOINT4 RLEG_JOINT6:LARM_JOINT5 RLEG_JOINT6:LARM_JOINT6 RLEG_JOINT6:WAIST LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT6:CHEST_JOINT1 LLEG_JOINT6:RARM_JOINT3 LLEG_JOINT6:RARM_JOINT4 LLEG_JOINT6:RARM_JOINT5 LLEG_JOINT6:RARM_JOINT6 LLEG_JOINT6:LARM_JOINT3 LLEG_JOINT6:LARM_JOINT4 LLEG_JOINT6:LARM_JOINT5 LLEG_JOINT6:LARM_JOINT6 LLEG_JOINT6:WAIST CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST" --conf-file-option "collision_model: convex hull" --conf-file-option "# for PDcontroller" - --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100" + --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100" --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/HRP2JSKNTS.PDgain.dat" --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)" --conf-file-option "seq_optional_data_dim: 8" + --conf-file-option "mask_joint_limit: R_THUMBCM_Y,R_THUMBCM_P,R_INDEXMP_R,R_INDEXMP_P,R_INDEXPIP_R,R_MIDDLEPIP_R,L_THUMBCM_Y,L_THUMBCM_P,L_INDEXMP_R,L_INDEXMP_P,L_INDEXPIP_R,L_MIDDLEPIP_R" --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" --conf-dt-option "0.004" --simulation-timestep-option "0.004" ) -gen_minmax_table_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2JSKNTS) +gen_minmax_table_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_WITH_3HAND_for_OpenHRP3 HRP2JSKNTS) compile_openhrp_model_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W --conf-file-option "end_effectors: rarm,RARM_JOINT6,CHEST_JOINT1,0.0,0.0169,-0.174,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,0.0,-0.0169,-0.174,0.0,1.0,0.0,1.5708" --conf-file-option "# for ThermoEstimator" @@ -246,74 +248,6 @@ compile_openhrp_model_for_closed_robots(HRP2G HRP2G_for_OpenHRP3 HRP2G ) gen_minmax_table_for_closed_robots(HRP2G HRP2G_for_OpenHRP3 HRP2G) -compile_openhrp_model_for_closed_robots(HRP2JSKNT HRP2JSKNT_WITH_3HAND_for_OpenHRP3 HRP2JSKNT_WITH_3HAND - --conf-file-option "abc_leg_offset: 0.0,0.105,0.0" - --conf-file-option "# 6dof joint version" - --conf-file-option "#end_effectors: rleg,RLEG_JOINT5,WAIST,0.035589,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.035589,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," - --conf-file-option "# Original foot + 7dof joint version" - --conf-file-option "#end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.031,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.031,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," - --conf-file-option "# Karasawa sole plate + 7dof joint version" - --conf-file-option "end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.034,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.034,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," - --conf-file-option "# for ThermoEstimator" - --conf-file-option "motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3" - --conf-file-option "motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0" - --conf-file-option "alarm_ratio: 0.75" - --conf-file-option "# for CollisionDetector" - --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT6 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT6 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT6 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT6:LLEG_JOINT2 RLEG_JOINT6:LLEG_JOINT3 RLEG_JOINT6:LLEG_JOINT5 RLEG_JOINT6:LLEG_JOINT6 RLEG_JOINT6:CHEST_JOINT1 RLEG_JOINT6:RARM_JOINT3 RLEG_JOINT6:RARM_JOINT4 RLEG_JOINT6:RARM_JOINT5 RLEG_JOINT6:RARM_JOINT6 RLEG_JOINT6:LARM_JOINT3 RLEG_JOINT6:LARM_JOINT4 RLEG_JOINT6:LARM_JOINT5 RLEG_JOINT6:LARM_JOINT6 RLEG_JOINT6:WAIST LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT6:CHEST_JOINT1 LLEG_JOINT6:RARM_JOINT3 LLEG_JOINT6:RARM_JOINT4 LLEG_JOINT6:RARM_JOINT5 LLEG_JOINT6:RARM_JOINT6 LLEG_JOINT6:LARM_JOINT3 LLEG_JOINT6:LARM_JOINT4 LLEG_JOINT6:LARM_JOINT5 LLEG_JOINT6:LARM_JOINT6 LLEG_JOINT6:WAIST CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST" - --conf-file-option "collision_model: convex hull" - --conf-file-option "# for PDcontroller" - --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100" - --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/HRP2JSKNT_WITH_3HAND.PDgain.dat" - --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" - --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)" - --conf-file-option "seq_optional_data_dim: 8" - --conf-file-option "mask_joint_limit: R_THUMBCM_Y,R_THUMBCM_P,R_INDEXMP_R,R_INDEXMP_P,R_INDEXPIP_R,R_MIDDLEPIP_R,L_THUMBCM_Y,L_THUMBCM_P,L_INDEXMP_R,L_INDEXMP_P,L_INDEXPIP_R,L_MIDDLEPIP_R" - --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" - --conf-dt-option "0.004" - --simulation-timestep-option "0.004" - -a leftarm,CHEST_LINK1,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1 - -a leftarm_torso,BODY,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1 - -a leftarm_grasp,CHEST_LINK1,LARM_LINK6,0.0,-0.03,-0.17,1.0,0.0,0.0,2.0944,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1 - -a rightarm,CHEST_LINK1,RARM_LINK6,-0.0042,0.0392,-0.1245,3.373247e-18,1.0,-9.813081e-18,1.5708,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1 - -a rightarm_torso,BODY,RARM_LINK6,-0.0042,0.0392,-0.1245,3.373247e-18,1.0,-9.813081e-18,1.5708,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1 - -a rightarm_grasp,CHEST_LINK1,RARM_LINK6,0.0,0.03,-0.17,-1.0,0.0,0.0,2.0944,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1 - ) -#gen_minmax_table_for_closed_robots(HRP2JSKNT HRP2JSKNT_WITH_3HAND_for_OpenHRP3 HRP2JSKNT_WITH_3HAND) - -compile_openhrp_model_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_WITH_3HAND_for_OpenHRP3 HRP2JSKNTS_WITH_3HAND - --conf-file-option "abc_leg_offset: 0.0,0.105,0.0" - --conf-file-option "# 6dof joint version" - --conf-file-option "#end_effectors: rleg,RLEG_JOINT5,WAIST,0.035589,-0.01,-0.105,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.035589,0.01,-0.105,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," - --conf-file-option "# Original foot + 7dof joint version" - --conf-file-option "#end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.031,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.031,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," - --conf-file-option "# Karasawa sole plate + 7dof joint version" - --conf-file-option "end_effectors: rleg,RLEG_JOINT6,WAIST,-0.079411,-0.01,-0.034,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT6,WAIST,-0.079411,0.01,-0.034,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,0.0,1.0,0.0,1.5708," - --conf-file-option "# for ThermoEstimator" - --conf-file-option "motor_heat_params: 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.0075,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.003,0.5, 0.0075,0.5, 0.02,0.3, 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3" - --conf-file-option "motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 45.0, 60.0, 40.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0" - --conf-file-option "alarm_ratio: 0.75" - --conf-file-option "# for CollisionDetector" - --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:LLEG_JOINT6 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT6 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT6 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 RLEG_JOINT6:LLEG_JOINT2 RLEG_JOINT6:LLEG_JOINT3 RLEG_JOINT6:LLEG_JOINT5 RLEG_JOINT6:LLEG_JOINT6 RLEG_JOINT6:CHEST_JOINT1 RLEG_JOINT6:RARM_JOINT3 RLEG_JOINT6:RARM_JOINT4 RLEG_JOINT6:RARM_JOINT5 RLEG_JOINT6:RARM_JOINT6 RLEG_JOINT6:LARM_JOINT3 RLEG_JOINT6:LARM_JOINT4 RLEG_JOINT6:LARM_JOINT5 RLEG_JOINT6:LARM_JOINT6 RLEG_JOINT6:WAIST LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 LLEG_JOINT6:CHEST_JOINT1 LLEG_JOINT6:RARM_JOINT3 LLEG_JOINT6:RARM_JOINT4 LLEG_JOINT6:RARM_JOINT5 LLEG_JOINT6:RARM_JOINT6 LLEG_JOINT6:LARM_JOINT3 LLEG_JOINT6:LARM_JOINT4 LLEG_JOINT6:LARM_JOINT5 LLEG_JOINT6:LARM_JOINT6 LLEG_JOINT6:WAIST CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST" - --conf-file-option "collision_model: convex hull" - --conf-file-option "# for PDcontroller" - --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100" - --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/HRP2JSKNTS_WITH_3HAND.PDgain.dat" - --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" - --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)" - --conf-file-option "seq_optional_data_dim: 8" - --conf-file-option "mask_joint_limit: R_THUMBCM_Y,R_THUMBCM_P,R_INDEXMP_R,R_INDEXMP_P,R_INDEXPIP_R,R_MIDDLEPIP_R,L_THUMBCM_Y,L_THUMBCM_P,L_INDEXMP_R,L_INDEXMP_P,L_INDEXPIP_R,L_MIDDLEPIP_R" - --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav" - --conf-dt-option "0.004" - --simulation-timestep-option "0.004" - -a leftarm,CHEST_LINK1,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1 - -a leftarm_torso,BODY,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1 - -a leftarm_grasp,CHEST_LINK1,LARM_LINK6,0.0,-0.03,-0.17,1.0,0.0,0.0,2.0944,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1 - -a rightarm,CHEST_LINK1,RARM_LINK6,-0.0042,0.0392,-0.1245,3.373247e-18,1.0,-9.813081e-18,1.5708,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1 - -a rightarm_torso,BODY,RARM_LINK6,-0.0042,0.0392,-0.1245,3.373247e-18,1.0,-9.813081e-18,1.5708,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1 - -a rightarm_grasp,CHEST_LINK1,RARM_LINK6,0.0,0.03,-0.17,-1.0,0.0,0.0,2.0944,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1 - ) -#gen_minmax_table_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_WITH_3HAND_for_OpenHRP3 HRP2JSKNTS_WITH_3HAND) - compile_openhrp_model_for_closed_robots(HRP4R HRP4R HRP4R -a leftarm,L_SHOULDER_P_LINK,L_WRIST_R_LINK,0,0,0,0,0,0,1,L_HAND_J0,-1,L_HAND_J1,-1 -a rightarm,R_SHOULDER_P_LINK,R_WRIST_R_LINK,0,0,0,0,0,0,1,R_HAND_J0,1,R_HAND_J1,1 @@ -538,8 +472,8 @@ macro (generate_default_launch_eusinterface_files_for_jsk_closed_rbrain_robots R endmacro () generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2JSK_for_OpenHRP3 HRP2JSK "--use-robot-hrpsys-config") -generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2JSKNT_for_OpenHRP3 HRP2JSKNT "--use-robot-hrpsys-config") -generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2JSKNTS_for_OpenHRP3 HRP2JSKNTS "--use-robot-hrpsys-config") +generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2JSKNT_WITH_3HAND_for_OpenHRP3 HRP2JSKNT "--use-robot-hrpsys-config") +generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2JSKNTS_WITH_3HAND_for_OpenHRP3 HRP2JSKNTS "--use-robot-hrpsys-config") generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2W_for_OpenHRP3 HRP2W "--use-robot-hrpsys-config") generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2G_for_OpenHRP3 HRP2G "--use-robot-hrpsys-config") generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP4R HRP4R "--use-unstable-hrpsys-config") @@ -662,27 +596,23 @@ if(${hrp2_models_FOUND} AND multisense_description_FOUND) HRP2G_WH_SENSORS.urdf hrp2g.yaml) endif(${hrp2_models_FOUND} AND multisense_description_FOUND) -# for HRP2JSKNT, HRP2JSKNTS + multisense -if(EXISTS ${hrp2_models_MODEL_DIR}/HRP3HAND_R/HRP3HAND_Rmain.wrl) - generate_hand_attached_hrp2_model(HRP2JSKNT) - generate_hand_attached_hrp2_model(HRP2JSKNTS) - run_xacro_for_hand_hrp2_model(HRP2JSKNT) - pkg_check_modules(multisense_description multisense_description QUIET) - if(multisense_description_FOUND) - run_xacro_for_hand_hrp2_model(HRP2JSKNTS) - attach_sensor_and_endeffector_to_hrp2jsk_urdf(HRP2JSKNTS HRP2JSKNTS_WH.urdf - HRP2JSKNTS_WH_SENSORS.urdf hrp2jsknts.yaml) - attach_sensor_and_endeffector_to_hrp2jsk_urdf(HRP2JSKNT HRP2JSKNT_WH.urdf - HRP2JSKNT_WH_SENSORS.urdf hrp2jsknt.yaml) - endif(multisense_description_FOUND) -endif() +# for HRP2JSKNT + multisense +pkg_check_modules(multisense_description multisense_description QUIET) +if(${hrp2_models_FOUND} AND multisense_description_FOUND) + # generate HRP2JSKNT_WH.urdf from HRP2JSKNT.urdf.xacro + set(_model_dir "${PROJECT_SOURCE_DIR}/models/") + add_custom_command(OUTPUT ${_model_dir}/HRP2JSKNT_WH.urdf + COMMAND ${xacro_exe} ${_model_dir}/HRP2JSKNT.urdf.xacro -o ${_model_dir}/HRP2JSKNT_WH.urdf + DEPENDS ${_model_dir}/HRP2JSKNT.urdf.xacro ${_model_dir}/HRP2JSKNT.urdf) + # generate HRP2JSKNT_WH_SENSORS.urdf from HRP2JSKNT_WH.urdf and yaml + attach_sensor_and_endeffector_to_hrp2jsk_urdf(HRP2JSKNT HRP2JSKNT_WH.urdf + HRP2JSKNT_WH_SENSORS.urdf hrp2jsknt.yaml) +endif(${hrp2_models_FOUND} AND multisense_description_FOUND) -# for HRP2JSKNT_WITH_3HAND, HRP2JSKNTS_WITH_3HAND (adding sensor, and fixing some points for gazebo) +# for HRP2JSKNTS if(${hrp2_models_FOUND}) - attach_sensor_and_endeffector_to_hrp2jsk_urdf(HRP2JSKNT HRP2JSKNT_WITH_3HAND.urdf - HRP2JSKNT_WITH_3HAND_SENSORS.urdf hrp2jsknt_with_3hand.yaml) - attach_sensor_and_endeffector_to_hrp2jsk_urdf(HRP2JSKNTS HRP2JSKNTS_WITH_3HAND.urdf - HRP2JSKNTS_WITH_3HAND_SENSORS.urdf hrp2jsknts_with_3hand.yaml) + attach_sensor_and_endeffector_to_hrp2jsk_urdf(HRP2JSKNTS HRP2JSKNTS.urdf + HRP2JSKNTS_WH_SENSORS.urdf hrp2jsknts.yaml) endif(${hrp2_models_FOUND}) # for HIRONXJSK (adding sensor, and fixing some points for gazebo) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l index 77a050b4..1b59ab27 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l @@ -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") diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l index 7c4e84a7..0081fcf8 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l @@ -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 @@ -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) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-interface.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-interface.l index 40aff469..91dde7a9 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-interface.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-interface.l @@ -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") diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l index ec97ff12..dd3ed308 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l @@ -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 @@ -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) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp3hand-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp3hand-utils.l index 539a72a8..f5e25728 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/hrp3hand-utils.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp3hand-utils.l @@ -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)) + ) ) diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat index 6fbf55ef..03969be1 100644 --- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat +++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.PDgain.dat @@ -31,4 +31,16 @@ 1400 100 460 100 1870 100 -0 0 \ No newline at end of file +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 \ No newline at end of file diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro index 42ea3364..c84abb41 100644 --- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro +++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro @@ -1,7 +1,5 @@ - - - + diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat index 6fbf55ef..03969be1 100644 --- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat +++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.PDgain.dat @@ -31,4 +31,16 @@ 1400 100 460 100 1870 100 -0 0 \ No newline at end of file +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 \ No newline at end of file diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro deleted file mode 100644 index 4aa4968d..00000000 --- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WITH_3HAND.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WITH_3HAND.PDgain.dat deleted file mode 100644 index 03969be1..00000000 --- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS_WITH_3HAND.PDgain.dat +++ /dev/null @@ -1,46 +0,0 @@ -1800 500 -21500 500 -8250 500 -18450 500 -4840 500 -3750 500 -300 30 -1800 500 -21500 500 -8250 500 -18450 500 -4840 500 -3750 500 -300 30 -8000 500 -13080 500 -1320 100 -1320 100 -5400 100 -5550 100 -430 100 -8700 100 -1400 100 -460 100 -1870 100 -0 0 -5400 100 -5550 100 -430 100 -8700 100 -1400 100 -460 100 -1870 100 -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 \ No newline at end of file diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WITH_3HAND.PDgain.dat b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WITH_3HAND.PDgain.dat deleted file mode 100644 index 03969be1..00000000 --- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT_WITH_3HAND.PDgain.dat +++ /dev/null @@ -1,46 +0,0 @@ -1800 500 -21500 500 -8250 500 -18450 500 -4840 500 -3750 500 -300 30 -1800 500 -21500 500 -8250 500 -18450 500 -4840 500 -3750 500 -300 30 -8000 500 -13080 500 -1320 100 -1320 100 -5400 100 -5550 100 -430 100 -8700 100 -1400 100 -460 100 -1870 100 -0 0 -5400 100 -5550 100 -430 100 -8700 100 -1400 100 -460 100 -1870 100 -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 \ No newline at end of file diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml index fd338a87..39b76645 100644 --- a/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml +++ b/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml @@ -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 @@ -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 @@ -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 @@ -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: diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2jsknt_with_3hand.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2jsknt_with_3hand.yaml deleted file mode 100644 index 39b76645..00000000 --- a/hrpsys_ros_bridge_tutorials/models/hrp2jsknt_with_3hand.yaml +++ /dev/null @@ -1,353 +0,0 @@ -## -## - collada_joint_name : euslisp_joint_name (start with :) -## -limbs: [rleg, lleg, torso, head, rarm, larm, rhand, lhand] - -rleg: - - RLEG_JOINT0 : rleg-crotch-y - - RLEG_JOINT1 : rleg-crotch-r - - RLEG_JOINT2 : rleg-crotch-p - - RLEG_JOINT3 : rleg-knee-p - - RLEG_JOINT4 : rleg-ankle-p - - RLEG_JOINT5 : rleg-ankle-r - - RLEG_JOINT6 : rleg-toe-p -lleg: - - LLEG_JOINT0 : lleg-crotch-y - - LLEG_JOINT1 : lleg-crotch-r - - LLEG_JOINT2 : lleg-crotch-p - - LLEG_JOINT3 : lleg-knee-p - - LLEG_JOINT4 : lleg-ankle-p - - LLEG_JOINT5 : lleg-ankle-r - - LLEG_JOINT6 : lleg-toe-p -torso: - - CHEST_JOINT0 : torso-waist-p - - CHEST_JOINT1 : torso-waist-y -head: - - HEAD_JOINT0 : head-neck-y - - HEAD_JOINT1 : head-neck-p -rarm: - - RARM_JOINT0 : rarm-shoulder-p - - RARM_JOINT1 : rarm-shoulder-r - - RARM_JOINT2 : rarm-shoulder-y - - RARM_JOINT3 : rarm-elbow-p - - RARM_JOINT4 : rarm-wrist-y - - RARM_JOINT5 : rarm-wrist-r - - RARM_JOINT6 : rarm-wrist-p - - RARM_JOINT7 : rarm-thumb-r -larm: - - LARM_JOINT0 : larm-shoulder-p - - LARM_JOINT1 : larm-shoulder-r - - LARM_JOINT2 : larm-shoulder-y - - LARM_JOINT3 : larm-elbow-p - - LARM_JOINT4 : larm-wrist-y - - 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 -## -rleg-end-coords: -# Original foot -# translate : [-0.079411, -0.01, -0.031] -# Karasawa sole plate [3mm] - translate : [-0.079411, -0.01, -0.034] -lleg-end-coords: -# Original foot -# translate : [-0.079411, 0.01, -0.031] -# Karasawa sole plate [3mm] - translate : [-0.079411, 0.01, -0.034] -torso-end-coords: - translate : [-0.032, 0.0, -1.0557] -head-end-coords: - translate : [0.079, 0.0, 0.1335] - rotate : [0.0, 1.0, 0.0, 99.9999] -rarm-end-coords: - translate : [-0.0042, 0.0392, -0.1245] - rotate : [0.0, 1.0, 0.0, 90.0] - parent : RARM_LINK6 -larm-end-coords: - translate : [-0.0042, -0.0392, -0.1245] - rotate : [0.0, 1.0, 0.0, 90.0] - parent : LARM_LINK6 - -sensors: - - sensor_name: lfsensor - parent_link: LLEG_LINK5 - translate: '0 0 -0.105' - sensor_type: 'base_force6d' - - sensor_name: rfsensor - parent_link: RLEG_LINK5 - translate: '0 0 -0.105' - sensor_type: 'base_force6d' - - sensor_name: lhsensor - parent_link: LARM_LINK6 - translate: '0 0 -0.077' - sensor_type: 'base_force6d' - - sensor_name: rhsensor - parent_link: RARM_LINK6 - translate: '0 0 -0.077' - sensor_type: 'base_force6d' - - sensor_name: CARMINE - parent_link: HEAD_LINK1 - translate: '0.093 0.017 0.131' - rotate: '-0.606685 0.62878 -0.486384 126.205' - sensor_type: 'camera' - # - sensor_name: camera_link - # parent_link: CARMINE - # translate: '-0.045 0.0 0.0' - # rotate: '0.577311 -0.577311 0.577429 120.013' - # sensor_type: 'camera' - # - sensor_name: camera_rgb_frame - # parent_link: camera_link - # translate: '0 -0.045 0' - # sensor_type: 'camera' - # - sensor_name: camera_rgb_optical_frame - # parent_link: camera_rgb_frame - # translate: '0 0 0' - # rotate: '-0.577311 0.577429 -0.577311 120.013' - # sensor_type: 'camera' - # - sensor_name: camera_depth_frame - # parent_link: camera_link - # translate: '0 -0.02 0' - # sensor_type: 'camera' - # - sensor_name: camera_depth_optical_frame - # parent_link: camera_depth_frame - # tranlsate: '0 0 0' - # rotate: '-0.577311 0.577429 -0.577311 120.013' - # sensor_type: 'camera' - - sensor_name: LARM_cb_jig - parent_link: LARM_LINK6 - translate: '0 0.2 -0.2' - rotate: '0.0 0.0 1.0 90' - sensor_type: 'camera' - - sensor_name: RARM_cb_jig - parent_link: RARM_LINK6 - translate: '0 -0.2 -0.2' - rotate: '0.0 0.0 1.0 90' - sensor_type: 'camera' - - sensor_name: fisheye - parent_link: CHEST_LINK1 - translate: '0.13 0.0 0.21' - rotate: '0.92269 -0.000735 0.385543 179.965' - sensor_type: 'camera' - -## -## reset-pose -## -angle-vector: - reset-pose : [0.0, 0, -26, 50, -24, 0, 0, - 0.0, 0, -26, 50, -24, 0, 0, - 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, - 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, - 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: - tag: mass - attribute_name: value - attribute_value: '0' - replaced_xml: '' - - match_rule: - tag: inertia - attribute_name: ixx - attribute_value: '0' - replaced_xml: '' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: LLEG_LINK5 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: RLEG_LINK5 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: LLEG_LINK6 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: RLEG_LINK6 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: limit - attribute_name: velocity - attribute_value: 0.5 - replaced_attribute_value: 10.0 - - match_rule: - tag: limit - attribute_name: effort - attribute_value: 100 - replaced_attribute_value: 1000 - - match_rule: - tag: dynamics - attribute_name: friction - attribute_value: 0 - replaced_attribute_value: 1 - - match_rule: - tag: dynamics - attribute_name: damping - attribute_value: 0.2 - replaced_attribute_value: 1 - # for hands - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_INDEXMP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_INDEXMP_P_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_INDEXPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_MIDDLEPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_THUMBCM_Y_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_THUMBCM_P_LINK - replaced_xml: '' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_INDEXMP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_INDEXMP_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_INDEXPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_MIDDLEPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_THUMBCM_Y_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_THUMBCM_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_INDEXMP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_INDEXMP_P_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_INDEXPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_MIDDLEPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_THUMBCM_Y_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_THUMBCM_P_LINK - replaced_xml: '' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_INDEXMP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_INDEXMP_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_INDEXPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_MIDDLEPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_THUMBCM_Y_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_THUMBCM_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml index fa043925..06695a2a 100644 --- a/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml +++ b/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml @@ -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 @@ -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 @@ -146,13 +161,17 @@ 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, + 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: diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2jsknts_with_3hand.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2jsknts_with_3hand.yaml deleted file mode 100644 index 06695a2a..00000000 --- a/hrpsys_ros_bridge_tutorials/models/hrp2jsknts_with_3hand.yaml +++ /dev/null @@ -1,359 +0,0 @@ -## -## - collada_joint_name : euslisp_joint_name (start with :) -## -limbs: [rleg, lleg, torso, head, rarm, larm, rhand, lhand] - -rleg: - - RLEG_JOINT0 : rleg-crotch-y - - RLEG_JOINT1 : rleg-crotch-r - - RLEG_JOINT2 : rleg-crotch-p - - RLEG_JOINT3 : rleg-knee-p - - RLEG_JOINT4 : rleg-ankle-p - - RLEG_JOINT5 : rleg-ankle-r - - RLEG_JOINT6 : rleg-toe-p -lleg: - - LLEG_JOINT0 : lleg-crotch-y - - LLEG_JOINT1 : lleg-crotch-r - - LLEG_JOINT2 : lleg-crotch-p - - LLEG_JOINT3 : lleg-knee-p - - LLEG_JOINT4 : lleg-ankle-p - - LLEG_JOINT5 : lleg-ankle-r - - LLEG_JOINT6 : lleg-toe-p -torso: - - CHEST_JOINT0 : torso-waist-y - - CHEST_JOINT1 : torso-waist-p -head: - - HEAD_JOINT0 : head-neck-y - - HEAD_JOINT1 : head-neck-p -rarm: - - RARM_JOINT0 : rarm-shoulder-p - - RARM_JOINT1 : rarm-shoulder-r - - RARM_JOINT2 : rarm-shoulder-y - - RARM_JOINT3 : rarm-elbow-p - - RARM_JOINT4 : rarm-wrist-y - - RARM_JOINT5 : rarm-wrist-r - - RARM_JOINT6 : rarm-wrist-p - - RARM_JOINT7 : rarm-thumb-r -larm: - - LARM_JOINT0 : larm-shoulder-p - - LARM_JOINT1 : larm-shoulder-r - - LARM_JOINT2 : larm-shoulder-y - - LARM_JOINT3 : larm-elbow-p - - LARM_JOINT4 : larm-wrist-y - - 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 -## -rleg-end-coords: -# Original foot -# translate : [-0.079411, -0.01, -0.031] -# Karasawa sole plate [3mm] - translate : [-0.079411, -0.01, -0.034] -lleg-end-coords: -# Original foot -# translate : [-0.079411, 0.01, -0.031] -# Karasawa sole plate [3mm] - translate : [-0.079411, 0.01, -0.034] -torso-end-coords: - translate : [-0.032, 0.0, -1.0557] -head-end-coords: - translate : [0.079, 0.0, 0.1335] - rotate : [0.0, 1.0, 0.0, 99.9999] -rarm-end-coords: - translate : [-0.0042, 0.0392, -0.1245] - rotate : [0.0, 1.0, 0.0, 90.0] - parent : RARM_LINK6 -larm-end-coords: - translate : [-0.0042, -0.0392, -0.1245] - rotate : [0.0, 1.0, 0.0, 90.0] - parent : LARM_LINK6 - -sensors: - - sensor_name: lfsensor - parent_link: LLEG_LINK5 - translate: '0 0 -0.105' - sensor_type: 'base_force6d' - - sensor_name: rfsensor - parent_link: RLEG_LINK5 - translate: '0 0 -0.105' - sensor_type: 'base_force6d' - - sensor_name: lhsensor - parent_link: LARM_LINK6 - translate: '0 0 -0.077' - sensor_type: 'base_force6d' - - sensor_name: rhsensor - parent_link: RARM_LINK6 - translate: '0 0 -0.077' - sensor_type: 'base_force6d' -# - sensor_name: CARMINE -# parent_link: HEAD_LINK1 -# translate: '0.093 0.017 0.131' -# rotate: '-0.606685 0.62878 -0.486384 126.205' -# sensor_type: 'camera' -# - sensor_name: camera_link -# parent_link: CARMINE -# translate: '-0.045 0.0 0.0' -# rotate: '0.577311 -0.577311 0.577429 120.013' -# sensor_type: 'camera' - - sensor_name: camera_link - parent_link: HEAD_LINK1 - translate: '0.053 0.052 0.119' - rotate: '0.029745 0.997072 -0.070452 17.6947' - sensor_type: 'camera' - - sensor_name: camera_rgb_frame - parent_link: camera_link - translate: '0 -0.045 0' - sensor_type: 'camera' - - sensor_name: camera_rgb_optical_frame - parent_link: camera_rgb_frame - translate: '0 0 0' - rotate: '-0.577311 0.577429 -0.577311 120.013' - sensor_type: 'camera' - - sensor_name: camera_depth_frame - parent_link: camera_link - translate: '0 -0.02 0' - sensor_type: 'camera' - - sensor_name: camera_depth_optical_frame - parent_link: camera_depth_frame - tranlsate: '0 0 0' - rotate: '-0.577311 0.577429 -0.577311 120.013' - sensor_type: 'camera' - - sensor_name: LARM_cb_jig - parent_link: LARM_LINK6 - translate: '0 0.2 -0.2' - rotate: '0.0 0.0 1.0 90' - sensor_type: 'camera' - - sensor_name: RARM_cb_jig - parent_link: RARM_LINK6 - translate: '0 -0.2 -0.2' - rotate: '0.0 0.0 1.0 90' - sensor_type: 'camera' - - sensor_name: fisheye - parent_link: CHEST_LINK1 - translate: '0.13 0.0 0.21' - rotate: '0.92269 -0.000735 0.385543 179.965' - sensor_type: 'camera' - - -## -## reset-pose -## -angle-vector: - reset-pose : [0.0, 0, -26, 50, -24, 0, 0, - 0.0, 0, -26, 50, -24, 0, 0, - 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, - 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, - 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: - tag: mass - attribute_name: value - attribute_value: '0' - replaced_xml: '' - - match_rule: - tag: inertia - attribute_name: ixx - attribute_value: '0' - replaced_xml: '' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: LLEG_LINK5 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: RLEG_LINK5 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: LLEG_LINK6 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: RLEG_LINK6 - replaced_xml: '\n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: limit - attribute_name: velocity - attribute_value: 0.5 - replaced_attribute_value: 10.0 - - match_rule: - tag: limit - attribute_name: effort - attribute_value: 100 - replaced_attribute_value: 1000 - - match_rule: - tag: dynamics - attribute_name: friction - attribute_value: 0 - replaced_attribute_value: 1 - - match_rule: - tag: dynamics - attribute_name: damping - attribute_value: 0.2 - replaced_attribute_value: 1 - # for hands - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_INDEXMP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_INDEXMP_P_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_INDEXPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_MIDDLEPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_THUMBCM_Y_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: L_THUMBCM_P_LINK - replaced_xml: '' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_INDEXMP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_INDEXMP_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_INDEXPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_MIDDLEPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_THUMBCM_Y_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: L_THUMBCM_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_INDEXMP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_INDEXMP_P_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_INDEXPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_MIDDLEPIP_R_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_THUMBCM_Y_LINK - replaced_xml: '' - - match_rule: - tag: inertia - parent_depth: 2 - parent_attribute_name: name - parent_attribute_value: R_THUMBCM_P_LINK - replaced_xml: '' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_INDEXMP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_INDEXMP_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_INDEXPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_MIDDLEPIP_R_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_THUMBCM_Y_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n ' - - match_rule: - tag: gazebo - attribute_name: reference - attribute_value: R_THUMBCM_P_LINK - replaced_xml: '\n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n '