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[W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX #544

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[W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX #544

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01c62a7
Auto-generate Euslisp interface of HIRONX
pazeshun May 26, 2018
c4f909b
Remove unused lisp files of hironx
pazeshun May 28, 2018
60a226a
Remove hironx launches which are auto-generated
pazeshun May 28, 2018
0203cf8
Merge remote-tracking branch 'origin/master' into hironx-autogen
pazeshun Jun 21, 2018
d992a5a
Add _InitialPose in py API as reset-manip-pose
pazeshun Jun 25, 2018
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6 changes: 6 additions & 0 deletions hrpsys_ros_bridge_tutorials/CMakeLists.txt
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Expand Up @@ -277,6 +277,11 @@ if(EXISTS ${hrp2_models_MODEL_DIR}/HRP3HAND_R/HRP3HAND_Rmain.wrl)
HRP3HAND_R)
endif()

# HIRONX
compile_openhrp_model_for_closed_robots(HIRONX HIRONX HIRONX
--conf-file-option "end_effectors: rarm,RARM_JOINT5,CHEST_JOINT0,-0.05,0,0,0,1,0,1.5708, larm,LARM_JOINT5,CHEST_JOINT0,-0.05,0,0,0,1,0,1.5708,"
)

# URATALEG
compile_rbrain_model_for_closed_robots(URATALEG URATALEG URATALEG
--robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
Expand Down Expand Up @@ -459,6 +464,7 @@ generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2JSK
generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2W_for_OpenHRP3 HRP2W "--use-robot-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2G_for_OpenHRP3 HRP2G "--use-robot-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP4R HRP4R "--use-unstable-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HIRONX HIRONX "--use-robot-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_rbrain_robots(STARO STARO "--use-unstable-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_rbrain_robots(JAXON JAXON "--use-robot-hrpsys-config")
if("$ENV{TRAVIS_JOB_ID}" STREQUAL "")
Expand Down
17 changes: 0 additions & 17 deletions hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-example.l
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15 changes: 0 additions & 15 deletions hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-interface.l
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44 changes: 0 additions & 44 deletions hrpsys_ros_bridge_tutorials/launch/hironx.launch
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45 changes: 0 additions & 45 deletions hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch
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17 changes: 0 additions & 17 deletions hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch
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20 changes: 0 additions & 20 deletions hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch
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5 changes: 2 additions & 3 deletions ...ridge_tutorials/models/kawada-hironx.yaml → ...s_ros_bridge_tutorials/models/hironx.yaml
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Expand Up @@ -41,6 +41,5 @@ head-end-coords:
angle-vector:
reset-pose : [0.0, -40.0, -90.0, 0.0, 0.0, 0.0, 0.0, -40.0, -90.0, 0.0, 0.0, 0.0, 0.0, 0.0, 30.0]
off-pose : [0.0,-140.0,-158.0, 0.0, 0.0, 0.0, 0.0,-140.0,-158.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]



## _InitialPose in hironx_client.py in hironx_ros_bridge (used in goInitial())
reset-manip-pose : [-0.6, 0.0, -100.0, 15.2, 9.4, 3.2, 0.6, 0.0, -100.0, -15.2, 9.4, -3.2, 0.0, 0.0, 0.0]