diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml index 8d5bb8bd..4a712c14 100644 --- a/.github/workflows/kinetic.yml +++ b/.github/workflows/kinetic.yml @@ -7,13 +7,17 @@ jobs: runs-on: ubuntu-latest name: kinetic - container: jskrobotics/ros-ubuntu:16.04 + container: ubuntu:16.04 steps: - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules - run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git - - name: Before Checkout # need for actions/checkout with ros-ubuntu container - run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME + run: | + (apt-get update && apt-get install -y sudo) || echo "OK" + sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git + - name: work around permission issue # https://github.com/actions/checkout/issues/760#issuecomment-1097501613 + run: | + set -x + git config --global --add safe.directory $GITHUB_WORKSPACE - name: Checkout uses: actions/checkout@v2 - name: Run jsk_travis diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml index c1dde3b3..2ea5aae8 100644 --- a/.github/workflows/melodic.yml +++ b/.github/workflows/melodic.yml @@ -7,13 +7,17 @@ jobs: runs-on: ubuntu-latest name: melodic - container: jskrobotics/ros-ubuntu:18.04 + container: ubuntu:18.04 steps: - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules - run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git - - name: Before Checkout # need for actions/checkout with ros-ubuntu container - run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME + run: | + (apt-get update && apt-get install -y sudo) || echo "OK" + sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git + - name: work around permission issue # https://github.com/actions/checkout/issues/760#issuecomment-1097501613 + run: | + set -x + git config --global --add safe.directory $GITHUB_WORKSPACE - name: Checkout uses: actions/checkout@v2 - name: Run jsk_travis diff --git a/.gitignore b/.gitignore new file mode 100644 index 00000000..42ac4ba7 --- /dev/null +++ b/.gitignore @@ -0,0 +1,23 @@ +# Emacs +*~ +\#*\# +.\#* + +# generated files from hrpsys_choreonoid +hrpsys_choreonoid/lib/ +hrpsys_choreonoid/*.so + +# generated files from jvrc_models +jvrc_models/model + +# generated files from hrpsys_ros_bridge/cmake/compile_robot_model.cmake +hrpsys_choreonoid_tutorials/models/*.conf +hrpsys_choreonoid_tutorials/models/*.xml +hrpsys_choreonoid_tutorials/models/*.l +hrpsys_choreonoid_tutorials/models/*.dae +hrpsys_choreonoid_tutorials/models/*/*.dae +hrpsys_choreonoid_tutorials/models/*.urdf + +# generated files from hrpsys_choreonoid_tutorials configure_file +hrpsys_choreonoid_tutorials/config/*.cnoid +hrpsys_choreonoid_tutorials/config/*.yaml diff --git a/hrpsys_choreonoid_tutorials/config/TABLIS_BASE_RH_FLAT.cnoid.in b/hrpsys_choreonoid_tutorials/config/TABLIS_BASE_RH_FLAT.cnoid.in index d23ea15f..ef96aa5a 100644 --- a/hrpsys_choreonoid_tutorials/config/TABLIS_BASE_RH_FLAT.cnoid.in +++ b/hrpsys_choreonoid_tutorials/config/TABLIS_BASE_RH_FLAT.cnoid.in @@ -29,8 +29,8 @@ items: jointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0, 0, 0, -0.174532925, 0.523598776, -0.34906585, 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, 0, 0, 0, 0, 0, 0, 0] initialRootPosition: [ 0.0, 0.0, 1.44 ] initialRootAttitude: [ 0, -1, 0, @@ -39,8 +39,8 @@ items: initialJointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0, 0, 0, -0.174532925, 0.523598776, -0.34906585, 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, 0, 0, 0, 0, 0, 0, 0] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false diff --git a/hrpsys_choreonoid_tutorials/config/TABLIS_RH_FLAT.cnoid.in b/hrpsys_choreonoid_tutorials/config/TABLIS_RH_FLAT.cnoid.in index ac310b6d..6052b309 100644 --- a/hrpsys_choreonoid_tutorials/config/TABLIS_RH_FLAT.cnoid.in +++ b/hrpsys_choreonoid_tutorials/config/TABLIS_RH_FLAT.cnoid.in @@ -29,8 +29,8 @@ items: jointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0, 0, 0, -0.174532925, 0.523598776, -0.34906585, 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, 0, 0, 0, 0, 0, 0, 0] initialRootPosition: [ 0.0, 0.0, 1.27 ] initialRootAttitude: [ 0, -1, 0, @@ -39,8 +39,8 @@ items: initialJointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0, 0, 0, -0.174532925, 0.523598776, -0.34906585, 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, 0, 0, 0, 0, 0, 0, 0] zmp: [ 0, 0, 0 ] collisionDetection: true selfCollisionDetection: false diff --git a/hrpsys_choreonoid_tutorials/config/floor.yaml b/hrpsys_choreonoid_tutorials/config/floor.yaml new file mode 100644 index 00000000..9ba61a95 --- /dev/null +++ b/hrpsys_choreonoid_tutorials/config/floor.yaml @@ -0,0 +1,5 @@ +obj1: + name: 'VISIBLE_FLOOR' + file: '$(find choreonoid)/share/model/misc/floor.body' + translation: [0, 0, -0.1] + rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]] diff --git a/hrpsys_choreonoid_tutorials/config/footsal.yaml.in b/hrpsys_choreonoid_tutorials/config/footsal.yaml.in index dab442fc..463fafbb 100644 --- a/hrpsys_choreonoid_tutorials/config/footsal.yaml.in +++ b/hrpsys_choreonoid_tutorials/config/footsal.yaml.in @@ -6,12 +6,12 @@ obj1: obj2: name: 'GOAL' file: '@jvrc_models_MODEL_DIR@/models/footsal_goal.wrl' - translation: [9.5, 0.0, 0.0] - rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]] + translation: [0.0, 9.5, 0.0] + rotation: [[0, -1, 0], [1, 0, 0], [0, 0, 1]] obj3: name: 'BALL' file: '@jvrc_models_MODEL_DIR@/models/yellow_ball.wrl' - translation: [2.0, 0.0, 0.12] + translation: [0.0, 2.0, 0.12] rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]] obj4: name: 'WALL_BACK' diff --git a/hrpsys_choreonoid_tutorials/config/soccer.yaml.in b/hrpsys_choreonoid_tutorials/config/soccer.yaml.in index c1fcee51..3958777e 100644 --- a/hrpsys_choreonoid_tutorials/config/soccer.yaml.in +++ b/hrpsys_choreonoid_tutorials/config/soccer.yaml.in @@ -6,12 +6,12 @@ obj1: obj2: name: 'GOAL' file: '@jvrc_models_MODEL_DIR@/models/soccer_goal.wrl' - translation: [26.0, 0.0, 0.0] - rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]] + translation: [0.0, 26.0, 0.0] + rotation: [[0, -1, 0], [1, 0, 0], [0, 0, 1]] obj3: name: 'BALL' file: '@jvrc_models_MODEL_DIR@/models/yellow_ball.wrl' - translation: [2.0, 0.0, 0.12] + translation: [0.0, 2.0, 0.12] rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]] obj4: name: 'WALL_BACK' diff --git a/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/kick-ball-demo.l b/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/kick-ball-demo.l index 5719730b..49d3677a 100644 --- a/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/kick-ball-demo.l +++ b/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/kick-ball-demo.l @@ -94,8 +94,8 @@ (defun ball-is-goalq () (let ((pos (send (get-coords-on-simulation :robot "BALL") :worldpos))) - (and (> (elt pos 0) 9600) - (> 1560 (elt pos 1) -1560) + (and (> (elt pos 1) 9600) + (> 1560 (elt pos 0) -1560) (> 2200 (elt pos 2) 0)) )) diff --git a/hrpsys_choreonoid_tutorials/launch/perception/image_processing.launch b/hrpsys_choreonoid_tutorials/launch/perception/image_processing.launch index db768c5f..06e2a990 100644 --- a/hrpsys_choreonoid_tutorials/launch/perception/image_processing.launch +++ b/hrpsys_choreonoid_tutorials/launch/perception/image_processing.launch @@ -1,5 +1,6 @@ + @@ -67,5 +68,31 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_choreonoid_tutorials/launch/perception/tracking_recognition.launch b/hrpsys_choreonoid_tutorials/launch/perception/tracking_recognition.launch index 2416dc3f..1eb81200 100644 --- a/hrpsys_choreonoid_tutorials/launch/perception/tracking_recognition.launch +++ b/hrpsys_choreonoid_tutorials/launch/perception/tracking_recognition.launch @@ -1,8 +1,9 @@ - + + - - - + + + diff --git a/hrpsys_choreonoid_tutorials/launch/tablis_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/tablis_choreonoid.launch index e356a5b1..2f6b1986 100644 --- a/hrpsys_choreonoid_tutorials/launch/tablis_choreonoid.launch +++ b/hrpsys_choreonoid_tutorials/launch/tablis_choreonoid.launch @@ -46,9 +46,9 @@ - - - + + + diff --git a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav index 47f2f181..5e9bd811 100644 --- a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav +++ b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav @@ -1,38 +1,38 @@ -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 -1 0 1 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 +1 0 1 1 0 0 diff --git a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat index 122eae18..18d11fe4 100644 --- a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat +++ b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat @@ -1,38 +1,38 @@ -33000 240 -83000 240 -33000 240 -33000 240 -47000 240 -33000 240 -33000 240 -83000 240 -33000 240 -33000 240 -47000 240 -33000 240 -83000 240 -83000 240 -83000 240 -10000 200 -10000 200 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -20000 320 -400 10 -400 10 -400 10 -400 10 -100 5 +33000 240 1 0 +83000 240 1 0 +33000 240 1 0 +33000 240 1 0 +47000 240 1 0 +33000 240 1 0 +33000 240 1 0 +83000 240 1 0 +33000 240 1 0 +33000 240 1 0 +47000 240 1 0 +33000 240 1 0 +83000 240 1 0 +83000 240 1 0 +83000 240 1 0 +10000 200 1 0 +10000 200 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +20000 320 1 0 +400 10 1 0 +400 10 1 0 +400 10 1 0 +400 10 1 0 +100 5 1 0 diff --git a/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py index d075287b..1ce9d1e1 100755 --- a/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py +++ b/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py @@ -13,15 +13,15 @@ def getRTCList (self): ['kf', "KalmanFilter"], #['vs', "VirtualForceSensor"], ['rmfo', "RemoveForceSensorLinkOffset"], + ['octd', "ObjectContactTurnaroundDetector"], ['es', "EmergencyStopper"], ['rfu', "ReferenceForceUpdater"], - ['octd', "ObjectContactTurnaroundDetector"], ['ic', "ImpedanceController"], ['abc', "AutoBalancer"], ['st', "Stabilizer"], - # ['tc', "TorqueController"], - # ['te', "ThermoEstimator"], # ['tl', "ThermoLimiter"], + # ['te', "ThermoEstimator"], + # ['tc', "TorqueController"], ['co', "CollisionDetector"], ['hes', "EmergencyStopper"], ['el', "SoftErrorLimiter"], diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py index a632c136..4d8de3cf 100755 --- a/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py +++ b/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py @@ -13,16 +13,16 @@ def getRTCList (self): ['kf', "KalmanFilter"], ['vs', "VirtualForceSensor"], ['rmfo', "RemoveForceSensorLinkOffset"], + ['octd', "ObjectContactTurnaroundDetector"], ['es', "EmergencyStopper"], + ['rfu', "ReferenceForceUpdater"], ['ic', "ImpedanceController"], ['abc', "AutoBalancer"], ['st', "Stabilizer"], - ['co', "CollisionDetector"], - # ['tc', "TorqueController"], - # ['te', "ThermoEstimator"], # ['tl', "ThermoLimiter"], - ['rfu', "ReferenceForceUpdater"], - ['octd', "ObjectContactTurnaroundDetector"], + # ['te', "ThermoEstimator"], + # ['tc', "TorqueController"], + ['co', "CollisionDetector"], ['hes', "EmergencyStopper"], ['el', "SoftErrorLimiter"], ['log', "DataLogger"] @@ -42,7 +42,6 @@ def defJointGroups (self): def startABSTIMP (self): ### not used on hrpsys - # self.el_svc.setServoErrorLimit("motor_joint", sys.float_info.max) # self.el_svc.setServoErrorLimit("RARM_F_JOINT0", sys.float_info.max) # self.el_svc.setServoErrorLimit("RARM_F_JOINT1", sys.float_info.max) # self.el_svc.setServoErrorLimit("LARM_F_JOINT0", sys.float_info.max) diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py index 4538ed10..80618c8c 100755 --- a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py +++ b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py @@ -13,16 +13,16 @@ def getRTCList (self): ['kf', "KalmanFilter"], ['vs', "VirtualForceSensor"], ['rmfo', "RemoveForceSensorLinkOffset"], + ['octd', "ObjectContactTurnaroundDetector"], ['es', "EmergencyStopper"], + ['rfu', "ReferenceForceUpdater"], ['ic', "ImpedanceController"], ['abc', "AutoBalancer"], ['st', "Stabilizer"], - ['co', "CollisionDetector"], - # ['tc', "TorqueController"], - # ['te', "ThermoEstimator"], # ['tl', "ThermoLimiter"], - ['rfu', "ReferenceForceUpdater"], - ['octd', "ObjectContactTurnaroundDetector"], + # ['te', "ThermoEstimator"], + # ['tc', "TorqueController"], + ['co', "CollisionDetector"], ['hes', "EmergencyStopper"], ['el', "SoftErrorLimiter"], ['log', "DataLogger"] @@ -42,7 +42,6 @@ def defJointGroups (self): def startABSTIMP (self): ### not used on hrpsys - self.el_svc.setServoErrorLimit("motor_joint", sys.float_info.max) self.el_svc.setServoErrorLimit("RARM_F_JOINT0", sys.float_info.max) self.el_svc.setServoErrorLimit("RARM_F_JOINT1", sys.float_info.max) self.el_svc.setServoErrorLimit("LARM_F_JOINT0", sys.float_info.max) diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py index 366b38af..6dad888f 100755 --- a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py +++ b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py @@ -13,16 +13,16 @@ def getRTCList (self): ['kf', "KalmanFilter"], ['vs', "VirtualForceSensor"], ['rmfo', "RemoveForceSensorLinkOffset"], + ['octd', "ObjectContactTurnaroundDetector"], ['es', "EmergencyStopper"], + ['rfu', "ReferenceForceUpdater"], ['ic', "ImpedanceController"], ['abc', "AutoBalancer"], ['st', "Stabilizer"], - ['co', "CollisionDetector"], - # ['tc', "TorqueController"], - # ['te', "ThermoEstimator"], # ['tl', "ThermoLimiter"], - ['rfu', "ReferenceForceUpdater"], - ['octd', "ObjectContactTurnaroundDetector"], + # ['te', "ThermoEstimator"], + # ['tc', "TorqueController"], + ['co', "CollisionDetector"], ['hes', "EmergencyStopper"], ['el', "SoftErrorLimiter"], ['log', "DataLogger"] @@ -42,7 +42,6 @@ def defJointGroups (self): def startABSTIMP (self): ### not used on hrpsys - self.el_svc.setServoErrorLimit("motor_joint", sys.float_info.max) self.el_svc.setServoErrorLimit("RARM_F_JOINT0", sys.float_info.max) self.el_svc.setServoErrorLimit("RARM_F_JOINT1", sys.float_info.max) self.el_svc.setServoErrorLimit("LARM_F_JOINT0", sys.float_info.max) diff --git a/hrpsys_choreonoid_tutorials/scripts/tablis_base_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/tablis_base_rh_setup.py index b76f17ee..64e7fd8a 100755 --- a/hrpsys_choreonoid_tutorials/scripts/tablis_base_rh_setup.py +++ b/hrpsys_choreonoid_tutorials/scripts/tablis_base_rh_setup.py @@ -3,6 +3,24 @@ from hrpsys_choreonoid_tutorials.choreonoid_hrpsys_config import * class TABLIS_HrpsysConfigurator(ChoreonoidHrpsysConfigurator): + def getRTCList(self): + return [ + ['seq', "SequencePlayer"], + ['sh', "StateHolder"], + ['fk', "ForwardKinematics"], + ['kf', "KalmanFilter"], + ['rmfo', "RemoveForceSensorLinkOffset"], + # ['octd', "ObjectContactTurnaroundDetector"], + # ['es', "EmergencyStopper"], + # ['rfu', "ReferenceForceUpdater"], + # ['ic', "ImpedanceController"], + # ['abc', "AutoBalancer"], + # ['st', "Stabilizer"], + # ['co', "CollisionDetector"], + # ['hes', "EmergencyStopper"], + # ['el', "SoftErrorLimiter"], + ['log', "DataLogger"] + ] def startABSTIMP (self): self.rh_svc.setServoGainPercentage("all",100) # self.startAutoBalancer() diff --git a/hrpsys_choreonoid_tutorials/scripts/tablis_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/tablis_rh_setup.py index 980a8df5..53167c44 100755 --- a/hrpsys_choreonoid_tutorials/scripts/tablis_rh_setup.py +++ b/hrpsys_choreonoid_tutorials/scripts/tablis_rh_setup.py @@ -3,10 +3,29 @@ from hrpsys_choreonoid_tutorials.choreonoid_hrpsys_config import * class TABLIS_HrpsysConfigurator(ChoreonoidHrpsysConfigurator): + def getRTCList(self): + return [ + ['seq', "SequencePlayer"], + ['sh', "StateHolder"], + ['fk', "ForwardKinematics"], + ['kf', "KalmanFilter"], + ['rmfo', "RemoveForceSensorLinkOffset"], + # ['octd', "ObjectContactTurnaroundDetector"], + # ['es', "EmergencyStopper"], + # ['rfu', "ReferenceForceUpdater"], + # ['ic', "ImpedanceController"], + # ['abc', "AutoBalancer"], + # ['st', "Stabilizer"], + # ['co', "CollisionDetector"], + # ['hes', "EmergencyStopper"], + # ['el', "SoftErrorLimiter"], + ['log', "DataLogger"] + ] def startABSTIMP (self): - self.startAutoBalancer() - self.setResetPose() - self.startStabilizer() + #self.startAutoBalancer() + #self.setResetPose() + #self.startStabilizer() + pass if __name__ == '__main__': hcf = TABLIS_HrpsysConfigurator("TABLIS") diff --git a/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py b/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py index 56794004..b629c26d 100755 --- a/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py +++ b/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py @@ -17,10 +17,10 @@ def getRTCList (self): ['ic', "ImpedanceController"], ['abc', "AutoBalancer"], ['st', "Stabilizer"], - ['co', "CollisionDetector"], - # ['tc', "TorqueController"], - # ['te', "ThermoEstimator"], # ['tl', "ThermoLimiter"], + # ['te', "ThermoEstimator"], + # ['tc', "TorqueController"], + ['co', "CollisionDetector"], ['hes', "EmergencyStopper"], ['el', "SoftErrorLimiter"], ['log', "DataLogger"] diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl index 6724eff6..9fe7ccfe 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl @@ -771,11 +771,8 @@ DEF JAXON_JVRC Humanoid { momentsOfInertia [0.020752 -1.298590e-06 8.029880e-06 -1.298590e-06 0.0198 0.000501 8.029880e-06 0.000501 0.013089] children [ Inline { url "LARM_LINK7_JVRC.wrl" } - # DEF lhsensor ForceSensor{ - # translation 0 0 -0.069 - # rotation 0.382683 -0.92388 -0 3.14159 - DEF lhsensor ForceSensor{ ## 2019/07 wacoh - translation 0 0 -0.09 + DEF lhsensor ForceSensor{ ##2022/05 leptrino + translation 0 0 -0.076 rotation 0 1 0 3.14159 sensorId 3 } #Sensor @@ -1109,12 +1106,9 @@ DEF JAXON_JVRC Humanoid { momentsOfInertia [0.020752 1.298590e-06 -8.029880e-06 1.298590e-06 0.0198 -0.000501 -8.029880e-06 -0.000501 0.013089] children [ Inline { url "RARM_LINK7_JVRC.wrl" } - # DEF rhsensor ForceSensor{ - # translation 0 0 -0.069 - # rotation -0.382683 -0.92388 -0 3.14159 - DEF rhsensor ForceSensor{ ## 2019/07 wacoh - translation 0 0 -0.09 - rotation 0 1 0 3.14159 + DEF rhsensor ForceSensor{ ##2022/05 leptrino + translation 0 0 -0.076 + rotation 1 0 0 3.14159 sensorId 2 } #Sensor ] diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl index 4ac21151..07040280 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl @@ -771,11 +771,8 @@ DEF JAXON_JVRC Humanoid { momentsOfInertia [0.020752 -1.298590e-06 8.029880e-06 -1.298590e-06 0.0198 0.000501 8.029880e-06 0.000501 0.013089] children [ Inline { url "LARM_LINK7_JVRC.wrl" } - # DEF lhsensor ForceSensor{ - # translation 0 0 -0.069 - # rotation 0.382683 -0.92388 -0 3.14159 - DEF lhsensor ForceSensor{ ## 2019/07 wacoh - translation 0 0 -0.09 + DEF lhsensor ForceSensor{ ##2022/05 leptrino + translation 0 0 -0.076 rotation 0 1 0 3.14159 sensorId 3 } #Sensor @@ -1110,12 +1107,9 @@ DEF JAXON_JVRC Humanoid { momentsOfInertia [0.020752 1.298590e-06 -8.029880e-06 1.298590e-06 0.0198 -0.000501 -8.029880e-06 -0.000501 0.013089] children [ Inline { url "RARM_LINK7_JVRC.wrl" } - # DEF rhsensor ForceSensor{ - # translation 0 0 -0.069 - # rotation -0.382683 -0.92388 -0 3.14159 - DEF rhsensor ForceSensor{ ## 2019/07 wacoh - translation 0 0 -0.09 - rotation 0 1 0 3.14159 + DEF rhsensor ForceSensor{ ##2022/05 leptrino + translation 0 0 -0.076 + rotation 1 0 0 3.14159 sensorId 2 } #Sensor ] diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl index fdf5032d..fa451f78 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl @@ -848,11 +848,8 @@ DEF JAXON_JVRC Humanoid { # Inline { url "../models/checkerboard.wrl" } # ] #} - # DEF lhsensor ForceSensor{ - # translation 0 0 -0.069 - # rotation 0.382683 -0.92388 -0 3.14159 - DEF lhsensor ForceSensor{ ## 2019/07 wacoh - translation 0 0 -0.09 + DEF lhsensor ForceSensor{ ##2022/05 leptrino + translation 0 0 -0.076 rotation 0 1 0 3.14159 sensorId 3 } #Sensor @@ -1225,12 +1222,9 @@ DEF JAXON_JVRC Humanoid { # Inline { url "../models/checkerboard.wrl" } # ] #} - # DEF rhsensor ForceSensor{ - # translation 0 0 -0.069 - # rotation -0.382683 -0.92388 -0 3.14159 - DEF rhsensor ForceSensor{ ## 2019/07 wacoh - translation 0 0 -0.09 - rotation 0 1 0 3.14159 + DEF rhsensor ForceSensor{ ##2022/05 leptrino + translation 0 0 -0.076 + rotation 1 0 0 3.14159 sensorId 2 } #Sensor ]