diff --git a/hrpsys_gazebo_tutorials/CMakeLists.txt b/hrpsys_gazebo_tutorials/CMakeLists.txt new file mode 100644 index 00000000..74bf2157 --- /dev/null +++ b/hrpsys_gazebo_tutorials/CMakeLists.txt @@ -0,0 +1,68 @@ +if(NOT USE_ROSBUILD) + include(catkin.cmake) + return() +endif() + +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + + +macro (generate_gazebo_urdf_file _robot_name) + set(_out_dir "${PROJECT_SOURCE_DIR}/robot_models/${_robot_name}") + set(_out_urdf_file "${_out_dir}/${_robot_name}.urdf") + add_custom_command(OUTPUT ${_out_dir}/meshes + COMMAND mkdir ${_out_dir}/meshes) + add_custom_command(OUTPUT ${_out_dir}/hrpsys + COMMAND mkdir ${_out_dir}/hrpsys) + add_custom_command(OUTPUT ${_out_urdf_file} + COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} + DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes) + add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file}) + set(ROBOT ${_robot_name}) + string(TOLOWER ${_robot_name} _sname) + #configure_file(${PROJECT_SOURCE_DIR}/scripts/default_robot_hrpsys_bringup.launch.in ${PROJECT_SOURCE_DIR}/build/${_sname}_hrpsys_bringup.launch) + if(NOT EXISTS ${PROJECT_SOURCE_DIR}/launch/gazebo_${_sname}_no_controllers.launch) + configure_file(${PROJECT_SOURCE_DIR}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/launch/gazebo_${_sname}_no_controllers.launch) + endif() + list(APPEND compile_robots ${_robot_name}_compile) +endmacro() + +generate_gazebo_urdf_file(SampleRobot) +generate_gazebo_urdf_file(HRP3HAND_L) +generate_gazebo_urdf_file(HRP3HAND_R) +generate_gazebo_urdf_file(HRP2JSK) +generate_gazebo_urdf_file(HRP2JSKNT) +generate_gazebo_urdf_file(HRP2JSKNTS) +generate_gazebo_urdf_file(STARO) +generate_gazebo_urdf_file(HRP4C) + +add_custom_target(all_robots_compile ALL DEPENDS ${compile_robots}) + + +#uncomment if you have defined messages +#rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +#rosbuild_add_executable(example examples/example.cpp) +#target_link_libraries(example ${PROJECT_NAME}) diff --git a/hrpsys_gazebo_tutorials/Makefile b/hrpsys_gazebo_tutorials/Makefile new file mode 100644 index 00000000..73f3baa0 --- /dev/null +++ b/hrpsys_gazebo_tutorials/Makefile @@ -0,0 +1,2 @@ +EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/hrpsys_gazebo_tutorials/README.md b/hrpsys_gazebo_tutorials/README.md new file mode 100644 index 00000000..22aba604 --- /dev/null +++ b/hrpsys_gazebo_tutorials/README.md @@ -0,0 +1,7 @@ +## How to move SampleRobot in Gazebo with hrpsys-base +1. confirm if there is a SampleRobot.urdf in ```hrpsys_gazebo_tutorials/robot_models/SampleRobot``` +1. ```source `rospack find hrpsys_gazebo_tutorials`/setup.sh; roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch``` +1. ```rtmlaunch hrpsys_gazebo_tutorials samplerobot_hrpsys_bringup.launch``` +1. ```roscd hrpsys_ros_bridge_tutorials/euslisp; roseus samplerobot-interface.l "(samplerobot-init)" "(objects (list *sr*))" "(send *ri* :angle-vector (send *sr* :angle-vector) 5000)"``` + +Do not forget to type ```pkill gzserver``` in addition to Ctrl-c in order to kill gazebo. diff --git a/hrpsys_gazebo_tutorials/catkin.cmake b/hrpsys_gazebo_tutorials/catkin.cmake new file mode 100644 index 00000000..3c7a4904 --- /dev/null +++ b/hrpsys_gazebo_tutorials/catkin.cmake @@ -0,0 +1,43 @@ +cmake_minimum_required(VERSION 2.8.3) +project(hrpsys_gazebo_tutorials) + +find_package(catkin REQUIRED COMPONENTS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials) + +set(PKG_CONFIG_PATH ${hrpsys_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH}) +find_package(PkgConfig) +pkg_check_modules(openhrp3 openhrp3.1 REQUIRED) +pkg_check_modules(hrpsys hrpsys-base REQUIRED) +pkg_check_modules(collada_urdf_jsk_patch collada_urdf_jsk_patch) + +catkin_package(CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials) + +if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR) + execute_process( + COMMAND rospack find hrpsys_ros_bridge_tutorials + OUTPUT_VARIABLE hrpsys_ros_bridge_tutorials_SOURCE_DIR) + string(REGEX REPLACE "\n" "" hrpsys_ros_bridge_tutorials_SOURCE_DIR ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}) +endif() + +## Convert robot models +if(EXISTS ${hrpsys_gazebo_general_SOURCE_DIR}) + set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_DIR}) +else() + set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_PREFIX}/share/hrpsys_gazebo_general) +endif() +include(${hrpsys_gazebo_general_PACKAGE_PATH}/cmake/compile_robot_model_for_gazebo.cmake) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/SampleRobot.dae) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_L.dae) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_R.dae) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSK.dae) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNT.dae) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNTS.dae) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/STARO.dae) +generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP4C.dae) +add_custom_target(all_robots_compile_tutorials ALL DEPENDS ${compile_urdf_robots}) + +## install +install(FILES setup.sh + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN ".svn" EXCLUDE) +install(DIRECTORY scripts DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS) diff --git a/hrpsys_gazebo_tutorials/config/HRP2JSK.yaml b/hrpsys_gazebo_tutorials/config/HRP2JSK.yaml new file mode 100644 index 00000000..f0a4ab99 --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP2JSK.yaml @@ -0,0 +1,93 @@ +hrpsys_gazebo_configuration: +## velocity feedback for joint control, use parameter gains/joint_name/p_v + use_velocity_feedback: true +## synchronized hrpsys and gazebo +# use_synchronized_command: false +# name of robot (using for namespace) + robotname: HRP2JSK +# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id + joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31] +# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints) + joints: + - RLEG_JOINT0 + - RLEG_JOINT1 + - RLEG_JOINT2 + - RLEG_JOINT3 + - RLEG_JOINT4 + - RLEG_JOINT5 + - LLEG_JOINT0 + - LLEG_JOINT1 + - LLEG_JOINT2 + - LLEG_JOINT3 + - LLEG_JOINT4 + - LLEG_JOINT5 + - CHEST_JOINT0 + - CHEST_JOINT1 + - HEAD_JOINT0 + - HEAD_JOINT1 + - RARM_JOINT0 + - RARM_JOINT1 + - RARM_JOINT2 + - RARM_JOINT3 + - RARM_JOINT4 + - RARM_JOINT5 + - RARM_JOINT6 + - RARM_JOINT7 + - LARM_JOINT0 + - LARM_JOINT1 + - LARM_JOINT2 + - LARM_JOINT3 + - LARM_JOINT4 + - LARM_JOINT5 + - LARM_JOINT6 + - LARM_JOINT7 + gains: + CHEST_JOINT0: {p: 3000.0, d: 8.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + CHEST_JOINT1: {p: 1000.0, d: 4.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + HEAD_JOINT0: {p: 150.0, d: 0.5, i: 0.0, i_clamp: 0.0, p_v: 350.0} + HEAD_JOINT1: {p: 700.0, d: 1.5, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT0: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT1: {p: 1000.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT2: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT3: {p: 1500.0, d: 3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT4: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT5: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT6: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LARM_JOINT7: {p: 20.0, d: 0.02, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT0: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT1: {p: 1000.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT2: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT3: {p: 1500.0, d: 3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT4: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT5: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT6: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RARM_JOINT7: {p: 20.0, d: 0.02, i: 0.0, i_clamp: 0.0, p_v: 350.0} + LLEG_JOINT0: {p: 1500.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-Y + LLEG_JOINT1: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0} # CRTOCH-R + LLEG_JOINT2: {p: 3800.0, d: 15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0} # CRTOCH-P + LLEG_JOINT3: {p: 3400.0, d: 12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} # KNEE-P + LLEG_JOINT4: {p: 2800.0, d: 10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} # ANKLE-P + LLEG_JOINT5: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} # ANKLE-R + RLEG_JOINT0: {p: 1500.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RLEG_JOINT1: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0} + RLEG_JOINT2: {p: 3800.0, d: 15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0} + RLEG_JOINT3: {p: 3400.0, d: 12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} + RLEG_JOINT4: {p: 2800.0, d: 10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} + RLEG_JOINT5: {p: 2000.0, d: 2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} + + force_torque_sensors: + - rfsensor + - lfsensor + - rhsensor + - lhsensor + force_torque_sensors_config: +## TODO: add translation and rotation + lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} + rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} + lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} + rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} + imu_sensors: + - imu_sensor0 + imu_sensors_config: +## TODO: add translation and rotation + imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'} diff --git a/hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml b/hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml new file mode 100644 index 00000000..5faa54ae --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml @@ -0,0 +1,98 @@ +hrpsys_gazebo_configuration: +## velocity feedback for joint control, use parameter gains/joint_name/p_v + use_velocity_feedback: true +## synchronized hrpsys and gazebo +# use_synchronized_command: false +# name of robot (using for namespace) + robotname: HRP2JSKNT +# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id + joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33] +# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints) + joints: + - RLEG_JOINT0 + - RLEG_JOINT1 + - RLEG_JOINT2 + - RLEG_JOINT3 + - RLEG_JOINT4 + - RLEG_JOINT5 + - RLEG_JOINT6 + - LLEG_JOINT0 + - LLEG_JOINT1 + - LLEG_JOINT2 + - LLEG_JOINT3 + - LLEG_JOINT4 + - LLEG_JOINT5 + - LLEG_JOINT6 + - CHEST_JOINT0 + - CHEST_JOINT1 + - HEAD_JOINT0 + - HEAD_JOINT1 + - RARM_JOINT0 + - RARM_JOINT1 + - RARM_JOINT2 + - RARM_JOINT3 + - RARM_JOINT4 + - RARM_JOINT5 + - RARM_JOINT6 + - RARM_JOINT7 + - LARM_JOINT0 + - LARM_JOINT1 + - LARM_JOINT2 + - LARM_JOINT3 + - LARM_JOINT4 + - LARM_JOINT5 + - LARM_JOINT6 + - LARM_JOINT7 +## jointid: + gains: + CHEST_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + CHEST_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + HEAD_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + HEAD_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT7: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT7: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LLEG_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y + LLEG_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R + LLEG_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P + LLEG_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} # KNEE-P + LLEG_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-P + LLEG_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-R + LLEG_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # TOE-R + RLEG_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + RLEG_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RLEG_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} + RLEG_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} + RLEG_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RLEG_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RLEG_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + + force_torque_sensors: + - rfsensor + - lfsensor + - rhsensor + - lhsensor + force_torque_sensors_config: +## TODO: add translation and rotation + lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} + rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} + lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} + rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} + imu_sensors: + - imu_sensor0 + imu_sensors_config: +## TODO: add translation and rotation + imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'} diff --git a/hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml b/hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml new file mode 100644 index 00000000..653b9421 --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml @@ -0,0 +1,98 @@ +hrpsys_gazebo_configuration: +## velocity feedback for joint control, use parameter gains/joint_name/p_v + use_velocity_feedback: true +## synchronized hrpsys and gazebo +# use_synchronized_command: false +# name of robot (using for namespace) + robotname: HRP2JSKNTS +# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id + joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33] +# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints) + joints: + - RLEG_JOINT0 + - RLEG_JOINT1 + - RLEG_JOINT2 + - RLEG_JOINT3 + - RLEG_JOINT4 + - RLEG_JOINT5 + - RLEG_JOINT6 + - LLEG_JOINT0 + - LLEG_JOINT1 + - LLEG_JOINT2 + - LLEG_JOINT3 + - LLEG_JOINT4 + - LLEG_JOINT5 + - LLEG_JOINT6 + - CHEST_JOINT0 + - CHEST_JOINT1 + - HEAD_JOINT0 + - HEAD_JOINT1 + - RARM_JOINT0 + - RARM_JOINT1 + - RARM_JOINT2 + - RARM_JOINT3 + - RARM_JOINT4 + - RARM_JOINT5 + - RARM_JOINT6 + - RARM_JOINT7 + - LARM_JOINT0 + - LARM_JOINT1 + - LARM_JOINT2 + - LARM_JOINT3 + - LARM_JOINT4 + - LARM_JOINT5 + - LARM_JOINT6 + - LARM_JOINT7 +## jointid: + gains: + CHEST_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + CHEST_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + HEAD_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + HEAD_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LARM_JOINT7: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + RARM_JOINT7: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} + LLEG_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y + LLEG_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R + LLEG_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P + LLEG_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} # KNEE-P + LLEG_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-P + LLEG_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-R + LLEG_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # TOE-R + RLEG_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + RLEG_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RLEG_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} + RLEG_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} + RLEG_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RLEG_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} + RLEG_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} + + force_torque_sensors: + - rfsensor + - lfsensor + - rhsensor + - lhsensor + force_torque_sensors_config: +## TODO: add translation and rotation + lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} + rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} + lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} + rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} + imu_sensors: + - imu_sensor0 + imu_sensors_config: +## TODO: add translation and rotation + imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'} diff --git a/hrpsys_gazebo_tutorials/config/HRP2JSKNTS_controller_config_for_moveit.yaml b/hrpsys_gazebo_tutorials/config/HRP2JSKNTS_controller_config_for_moveit.yaml new file mode 100644 index 00000000..daf1d26a --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP2JSKNTS_controller_config_for_moveit.yaml @@ -0,0 +1,51 @@ +controller_configuration: + - group_name: larm + controller_name: /larm_controller + joint_list: + - LARM_JOINT0 + - LARM_JOINT1 + - LARM_JOINT2 + - LARM_JOINT3 + - LARM_JOINT4 + - LARM_JOINT5 + - LARM_JOINT6 + - group_name: rarm + controller_name: /rarm_controller + joint_list: + - RARM_JOINT0 + - RARM_JOINT1 + - RARM_JOINT2 + - RARM_JOINT3 + - RARM_JOINT4 + - RARM_JOINT5 + - RARM_JOINT6 + - group_name: lleg + controller_name: /lleg_controller + joint_list: + - LLEG_JOINT0 + - LLEG_JOINT1 + - LLEG_JOINT2 + - LLEG_JOINT3 + - LLEG_JOINT4 + - LLEG_JOINT5 + - LLEG_JOINT6 + - group_name: rleg + controller_name: /rleg_controller + joint_list: + - RLEG_JOINT0 + - RLEG_JOINT1 + - RLEG_JOINT2 + - RLEG_JOINT3 + - RLEG_JOINT4 + - RLEG_JOINT5 + - RLEG_JOINT6 + - group_name: torso + controller_name: /torso_controller + joint_list: + - CHEST_JOINT0 + - CHEST_JOINT1 + - group_name: head + controller_name: /head_controller + joint_list: + - HEAD_JOINT0 + - HEAD_JOINT1 diff --git a/hrpsys_gazebo_tutorials/config/HRP2JSKNT_controller_config_for_moveit.yaml b/hrpsys_gazebo_tutorials/config/HRP2JSKNT_controller_config_for_moveit.yaml new file mode 100644 index 00000000..daf1d26a --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP2JSKNT_controller_config_for_moveit.yaml @@ -0,0 +1,51 @@ +controller_configuration: + - group_name: larm + controller_name: /larm_controller + joint_list: + - LARM_JOINT0 + - LARM_JOINT1 + - LARM_JOINT2 + - LARM_JOINT3 + - LARM_JOINT4 + - LARM_JOINT5 + - LARM_JOINT6 + - group_name: rarm + controller_name: /rarm_controller + joint_list: + - RARM_JOINT0 + - RARM_JOINT1 + - RARM_JOINT2 + - RARM_JOINT3 + - RARM_JOINT4 + - RARM_JOINT5 + - RARM_JOINT6 + - group_name: lleg + controller_name: /lleg_controller + joint_list: + - LLEG_JOINT0 + - LLEG_JOINT1 + - LLEG_JOINT2 + - LLEG_JOINT3 + - LLEG_JOINT4 + - LLEG_JOINT5 + - LLEG_JOINT6 + - group_name: rleg + controller_name: /rleg_controller + joint_list: + - RLEG_JOINT0 + - RLEG_JOINT1 + - RLEG_JOINT2 + - RLEG_JOINT3 + - RLEG_JOINT4 + - RLEG_JOINT5 + - RLEG_JOINT6 + - group_name: torso + controller_name: /torso_controller + joint_list: + - CHEST_JOINT0 + - CHEST_JOINT1 + - group_name: head + controller_name: /head_controller + joint_list: + - HEAD_JOINT0 + - HEAD_JOINT1 diff --git a/hrpsys_gazebo_tutorials/config/HRP3HAND_L.yaml b/hrpsys_gazebo_tutorials/config/HRP3HAND_L.yaml new file mode 100644 index 00000000..adaab3f7 --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP3HAND_L.yaml @@ -0,0 +1,28 @@ +hrpsys_gazebo_configuration: + publish_joint_state: + topic: /joint_states + step: 25 +## velocity feedback for joint control, use parameter gains/joint_name/p_v +# use_velocity_feedback: true +## synchronized hrpsys and gazebo +# use_synchronized_command: false +# name of robot (using for namespace) + robotname: HRP3HAND_L +# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id + joint_id_list: [0, 1, 2, 3, 4, 5] +# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints) + joints: + - L_THUMBCM_Y + - L_THUMBCM_P + - L_INDEXMP_R + - L_INDEXMP_P + - L_INDEXPIP_R + - L_MIDDLEPIP_R +## jointid: + gains: + L_INDEXMP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + L_INDEXMP_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + L_INDEXPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + L_MIDDLEPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + L_THUMBCM_Y: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + L_THUMBCM_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} diff --git a/hrpsys_gazebo_tutorials/config/HRP3HAND_R.yaml b/hrpsys_gazebo_tutorials/config/HRP3HAND_R.yaml new file mode 100644 index 00000000..cc3acd25 --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP3HAND_R.yaml @@ -0,0 +1,28 @@ +hrpsys_gazebo_configuration: + publish_joint_state: + topic: /joint_states + step: 25 +## velocity feedback for joint control, use parameter gains/joint_name/p_v +# use_velocity_feedback: true +## synchronized hrpsys and gazebo +# use_synchronized_command: false +# name of robot (using for namespace) + robotname: HRP3HAND_R +# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id + joint_id_list: [0, 1, 2, 3, 4, 5] +# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints) + joints: + - R_THUMBCM_Y + - R_THUMBCM_P + - R_INDEXMP_R + - R_INDEXMP_P + - R_INDEXPIP_R + - R_MIDDLEPIP_R +## jointid: + gains: + R_INDEXMP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + R_INDEXMP_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + R_INDEXPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + R_MIDDLEPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + R_THUMBCM_Y: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} + R_THUMBCM_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} diff --git a/hrpsys_gazebo_tutorials/config/HRP4C.yaml b/hrpsys_gazebo_tutorials/config/HRP4C.yaml new file mode 100644 index 00000000..8af6f795 --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/HRP4C.yaml @@ -0,0 +1,125 @@ +hrpsys_gazebo_configuration: + robotname: HRP4C + joint_id_list: [0, 1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 28, 29, 30, 31, 32, 33, 36, 37, 38, 39, 40, 41] + joints: + - R_HIP_Y + - R_HIP_R + - R_HIP_P + - R_KNEE_P + - R_ANKLE_P + - R_ANKLE_R + - L_HIP_Y + - L_HIP_R + - L_HIP_P + - L_KNEE_P + - L_ANKLE_P + - L_ANKLE_R + - CHEST_P + - CHEST_R + - CHEST_Y + - NECK_Y + - NECK_R + - NECK_P + - R_SHOULDER_P + - R_SHOULDER_R + - R_SHOULDER_Y + - R_ELBOW_P + - R_WRIST_Y + - R_WRIST_R + - L_SHOULDER_P + - L_SHOULDER_R + - L_SHOULDER_Y + - L_ELBOW_P + - L_WRIST_Y + - L_WRIST_R + gains: + R_HIP_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_HIP_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_HIP_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_KNEE_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_ANKLE_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_ANKLE_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_HIP_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_HIP_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_HIP_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_KNEE_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_ANKLE_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_ANKLE_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + CHEST_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + CHEST_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + CHEST_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + NECK_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + NECK_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + NECK_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_SHOULDER_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_SHOULDER_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_SHOULDER_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_ELBOW_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_WRIST_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + R_WRIST_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_SHOULDER_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_SHOULDER_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_SHOULDER_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_ELBOW_P: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_WRIST_Y: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} + L_WRIST_R: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0} +# force_torque_sensors: +# - rfsensor +# - lfsensor +# - rhsensor +# - lhsensor +# force_torque_sensors_config: +# ## TODO: add translation and rotation +# lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} +# rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} +# lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} +# rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} +# imu_sensors: +# - imu_sensor0 +# imu_sensors_config: +# ## TODO: add translation and rotation +# imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'} + +# hrpsys_joints on dae +# name: R_HIP_Y, jointId: 0, type: rotate +# name: R_HIP_R, jointId: 1, type: rotate +# name: R_HIP_P, jointId: 2, type: rotate +# name: R_KNEE_P, jointId: 3, type: rotate +# name: R_ANKLE_P, jointId: 4, type: rotate +# name: R_ANKLE_R, jointId: 5, type: rotate +# name: L_HIP_Y, jointId: 7, type: rotate +# name: L_HIP_R, jointId: 8, type: rotate +# name: L_HIP_P, jointId: 9, type: rotate +# name: L_KNEE_P, jointId: 10, type: rotate +# name: L_ANKLE_P, jointId: 11, type: rotate +# name: L_ANKLE_R, jointId: 12, type: rotate +# name: CHEST_P, jointId: 14, type: rotate +# name: CHEST_R, jointId: 15, type: rotate +# name: CHEST_Y, jointId: 16, type: rotate +# name: NECK_Y, jointId: 17, type: rotate +# name: NECK_R, jointId: 18, type: rotate +# name: NECK_P, jointId: 19, type: rotate +# name: EYEBROW_P, jointId: 20, type: rotate +# name: EYELID_P, jointId: 21, type: rotate +# name: EYE_P, jointId: 23, type: rotate +# name: EYE_Y, jointId: 22, type: rotate +# name: MOUTH_P, jointId: 24, type: rotate +# name: LOWERLIP_P, jointId: 26, type: rotate +# name: UPPERLIP_P, jointId: 25, type: rotate +# name: CHEEK_P, jointId: 27, type: rotate +# name: R_SHOULDER_P, jointId: 28, type: rotate +# name: R_SHOULDER_R, jointId: 29, type: rotate +# name: R_SHOULDER_Y, jointId: 30, type: rotate +# name: R_ELBOW_P, jointId: 31, type: rotate +# name: R_WRIST_Y, jointId: 32, type: rotate +# name: R_WRIST_R, jointId: 33, type: rotate +# name: R_HAND_J0, jointId: 34, type: rotate +# name: R_HAND_J1, jointId: 35, type: rotate +# name: L_SHOULDER_P, jointId: 36, type: rotate +# name: L_SHOULDER_R, jointId: 37, type: rotate +# name: L_SHOULDER_Y, jointId: 38, type: rotate +# name: L_ELBOW_P, jointId: 39, type: rotate +# name: L_WRIST_Y, jointId: 40, type: rotate +# name: L_WRIST_R, jointId: 41, type: rotate +# name: L_HAND_J0, jointId: 42, type: rotate +# name: L_HAND_J1, jointId: 43, type: rotate \ No newline at end of file diff --git a/hrpsys_gazebo_tutorials/config/STARO.yaml b/hrpsys_gazebo_tutorials/config/STARO.yaml new file mode 100644 index 00000000..02fc0cde --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/STARO.yaml @@ -0,0 +1,92 @@ +hrpsys_gazebo_configuration: +## velocity feedback for joint control, use parameter gains/joint_name/p_v + use_velocity_feedback: true +## synchronized hrpsys and gazebo +# use_synchronized_command: false +# name of robot (using for namespace) + robotname: STARO +# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id + joint_id_list: [30, 31, 28, 29, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27] +# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints) + joints: + - CHEST_JOINT0 + - CHEST_JOINT1 + - HEAD_JOINT0 + - HEAD_JOINT1 + - RARM_JOINT0 + - RARM_JOINT1 + - RARM_JOINT2 + - RARM_JOINT3 + - RARM_JOINT4 + - RARM_JOINT5 + - RARM_JOINT6 + - RARM_JOINT7 + - LARM_JOINT0 + - LARM_JOINT1 + - LARM_JOINT2 + - LARM_JOINT3 + - LARM_JOINT4 + - LARM_JOINT5 + - LARM_JOINT6 + - LARM_JOINT7 + - RLEG_JOINT0 + - RLEG_JOINT1 + - RLEG_JOINT2 + - RLEG_JOINT3 + - RLEG_JOINT4 + - RLEG_JOINT5 + - LLEG_JOINT0 + - LLEG_JOINT1 + - LLEG_JOINT2 + - LLEG_JOINT3 + - LLEG_JOINT4 + - LLEG_JOINT5 + gains: + CHEST_JOINT0: {p: 300000, d: 8.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + CHEST_JOINT1: {p: 100000, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + HEAD_JOINT0: {p: 15000, d: 0.5, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + HEAD_JOINT1: {p: 70000, d: 1.5, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT0: {p: 200000, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT1: {p: 100000, d: 2.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT2: {p: 20000, d: 0.4, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT3: {p: 150000, d: 3.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT4: {p: 20000, d: 0.4, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT5: {p: 40000, d: 0.8, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT6: {p: 40000, d: 0.8, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RARM_JOINT7: {p: 40000, d: 0.8, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT0: {p: 200000, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT1: {p: 100000, d: 2.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT2: {p: 20000, d: 0.4, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT3: {p: 150000, d: 3.0, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT4: {p: 20000, d: 0.4, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT5: {p: 40000, d: 0.8, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT6: {p: 40000, d: 0.8, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + LARM_JOINT7: {p: 40000, d: 0.8, i: 0.0, i_clamp: 0.0, vp: 1.0, p_v: 140.0} + RLEG_JOINT0: {p: 150000, d: 2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0} + RLEG_JOINT1: {p: 200000, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0} + RLEG_JOINT2: {p: 380000, d: 15.0, i: 0.0, i_clamp: 0.0, vp: 8.0, p_v: 650.0} + RLEG_JOINT3: {p: 340000, d: 12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 650.0} + RLEG_JOINT4: {p: 280000, d: 10.0, i: 0.0, i_clamp: 0.0, vp: 8.0, p_v: 250.0} + RLEG_JOINT5: {p: 200000, d: 2.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 450.0} + LLEG_JOINT0: {p: 150000, d: 2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0} + LLEG_JOINT1: {p: 200000, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0} + LLEG_JOINT2: {p: 380000, d: 15.0, i: 0.0, i_clamp: 0.0, vp: 8.0, p_v: 650.0} + LLEG_JOINT3: {p: 340000, d: 12.5, i: 0.0, i_clamp: 0.0, vp: 8.0, p_v: 650.0} + LLEG_JOINT4: {p: 280000, d: 10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0} + LLEG_JOINT5: {p: 200000, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 450.0} +# force_torque_sensors: +# - rfsensor +# - lfsensor +# - rhsensor +# - lhsensor +# force_torque_sensors_config: +# ## TODO: add translation and rotation +# lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} +# rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} +# lhsensor: {joint_name: 'LARM_JOINT7', frame_id: 'LARM_LINK7', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} +# rhsensor: {joint_name: 'RARM_JOINT7', frame_id: 'RARM_LINK7', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} + imu_sensors: + - imu_sensor0 + imu_sensors_config: +## TODO: add translation and rotation + imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'} diff --git a/hrpsys_gazebo_tutorials/config/SampleRobot.yaml b/hrpsys_gazebo_tutorials/config/SampleRobot.yaml new file mode 100644 index 00000000..f84fe7ea --- /dev/null +++ b/hrpsys_gazebo_tutorials/config/SampleRobot.yaml @@ -0,0 +1,122 @@ +hrpsys_gazebo_configuration: +## velocity feedback for joint control, use parameter gains/joint_name/p_v + use_velocity_feedback: true +## synchronized hrpsys and gazebo +# use_synchronized_command: false +# name of robot (using for namespace) + robotname: SampleRobot +# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id + joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28] +# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints) + joints: + - RLEG_HIP_R + - RLEG_HIP_P + - RLEG_HIP_Y + - RLEG_KNEE + - RLEG_ANKLE_P + - RLEG_ANKLE_R + - RARM_SHOULDER_P + - RARM_SHOULDER_R + - RARM_SHOULDER_Y + - RARM_ELBOW + - RARM_WRIST_Y + - RARM_WRIST_P + - RARM_WRIST_R + - LLEG_HIP_R + - LLEG_HIP_P + - LLEG_HIP_Y + - LLEG_KNEE + - LLEG_ANKLE_P + - LLEG_ANKLE_R + - LARM_SHOULDER_P + - LARM_SHOULDER_R + - LARM_SHOULDER_Y + - LARM_ELBOW + - LARM_WRIST_Y + - LARM_WRIST_P + - LARM_WRIST_R + - WAIST_P + - WAIST_R + - CHEST +## comment for joint index +# 0 - RLEG_HIP_R +# 1 - RLEG_HIP_P +# 2 - RLEG_HIP_Y +# 3 - RLEG_KNEE +# 4 - RLEG_ANKLE_P +# 5 - RLEG_ANKLE_R +# 6 - RARM_SHOULDER_P +# 7 - RARM_SHOULDER_R +# 8 - RARM_SHOULDER_Y +# 9 - RARM_ELBOW +# 10 - RARM_WRIST_Y +# 11 - RARM_WRIST_P +# 12 - RARM_WRIST_R +# 13 - LLEG_HIP_R +# 14 - LLEG_HIP_P +# 15 - LLEG_HIP_Y +# 16 - LLEG_KNEE +# 17 - LLEG_ANKLE_P +# 18 - LLEG_ANKLE_R +# 19 - LARM_SHOULDER_P +# 20 - LARM_SHOULDER_R +# 21 - LARM_SHOULDER_Y +# 22 - LARM_ELBOW +# 23 - LARM_WRIST_Y +# 24 - LARM_WRIST_P +# 25 - LARM_WRIST_R +# 26 - WAIST_P +# 27 - WAIST_R +# 28 - CHEST +## joint gain settings + gains: + LLEG_HIP_R: {p: 12000.0, d: 4.0, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0} + LLEG_HIP_P: {p: 24000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + LLEG_HIP_Y: {p: 4000.0, d: 4.0, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0} + LLEG_KNEE: {p: 36000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + LLEG_ANKLE_P: {p: 18000.0, d: 3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + LLEG_ANKLE_R: {p: 6000.0, d: 2.0, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0} + RLEG_HIP_R: {p: 12000.0, d: 4.0, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0} + RLEG_HIP_P: {p: 24000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + RLEG_HIP_Y: {p: 4000.0, d: 4.0, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0} + RLEG_KNEE: {p: 36000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + RLEG_ANKLE_P: {p: 18000.0, d: 3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + RLEG_ANKLE_R: {p: 6000.0, d: 2.0, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0} + WAIST_P: {p: 8000.0, d: 4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + WAIST_R: {p: 8000.0, d: 4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + CHEST: {p: 6000.0, d: 2.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} + LARM_SHOULDER_P: {p: 1200.0, d: 1.0, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} + LARM_SHOULDER_R: {p: 500.0, d: 0.5, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0} + LARM_SHOULDER_Y: {p: 200.0, d: 0.3, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} + LARM_ELBOW: {p: 1000.0, d: 1.4, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} + LARM_WRIST_Y: {p: 200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} + LARM_WRIST_P: {p: 300.0, d: 0.2, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} + LARM_WRIST_R: {p: 20.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} + RARM_SHOULDER_P: {p: 1200.0, d: 1.0, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} + RARM_SHOULDER_R: {p: 500.0, d: 0.5, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0} + RARM_SHOULDER_Y: {p: 200.0, d: 0.3, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} + RARM_ELBOW: {p: 1000.0, d: 1.4, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} + RARM_WRIST_Y: {p: 200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} + RARM_WRIST_P: {p: 300.0, d: 0.2, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} + RARM_WRIST_R: {p: 20.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} +## force sensor settings +## list of force sensorname + force_torque_sensors: + - lfsensor + - rfsensor + - lhsensor + - rhsensor +## configuration of force sensor +## key of force_torque_sensors_config should be a member of force_torque_sensors + force_torque_sensors_config: + lfsensor: {joint_name: 'LLEG_ANKLE_R', frame_id: 'LLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]} + rfsensor: {joint_name: 'RLEG_ANKLE_R', frame_id: 'RLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]} + lhsensor: {joint_name: 'LARM_WRIST_R', frame_id: 'LARM_LINK7'} + rhsensor: {joint_name: 'RARM_WRIST_R', frame_id: 'RARM_LINK7'} +## IMU sensor settings +## configuration of IMU sensor +## key of imu_sensors_config should be a member of imu_sensors + imu_sensors: + - imu_sensor0 + imu_sensors_config: + imu_sensor0: {ros_name: 'sample_imu_sensor', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'} diff --git a/hrpsys_gazebo_tutorials/environment_models/3d-coord-arrow/meshes/nil_link_mesh.dae b/hrpsys_gazebo_tutorials/environment_models/3d-coord-arrow/meshes/nil_link_mesh.dae new file mode 100644 index 00000000..545c11bf --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/3d-coord-arrow/meshes/nil_link_mesh.dae @@ -0,0 +1,515 @@ + + + + + Someone + Assimp Collada Exporter + + 2000-01-01T23:59:59 + 2000-01-01T23:59:59 + + Y_UP + + + + + + + + 0 0 0 1 + + + 0.25 0.25 0.25 1 + + + 0.5 0.5 0.5 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + 0 0 0 1 + + + 0.498047 0.0001 0.0001 1 + + + 0.996094 0 0 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + 0 0 0 1 + + + 0.498047 0.0001 0.0001 1 + + + 0.996094 0 0 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + 0 0 0 1 + + + 0.0001 0.498047 0.0001 1 + + + 0 0.996094 0 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + 0 0 0 1 + + + 0.0001 0.498047 0.0001 1 + + + 0 0.996094 0 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + 0 0 0 1 + + + 0.0001 0.0001 0.498047 1 + + + 0 0 0.996094 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + 0 0 0 1 + + + 0.0001 0.0001 0.498047 1 + + + 0 0 0.996094 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -0.0005 0.0005 0.0005 -0.0005 -0.0005 0.0005 0.0005 -0.0005 0.0005 0.0005 0.0005 0.0005 0.0005 0.0005 -0.0005 0.0005 -0.0005 -0.0005 -0.0005 -0.0005 -0.0005 -0.0005 0.0005 -0.0005 0.0005 0.0005 -0.0005 -0.0005 0.0005 -0.0005 -0.0005 0.0005 0.0005 0.0005 0.0005 0.0005 0.0005 -0.0005 -0.0005 0.0005 0.0005 -0.0005 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+ + 0.9 + 0.9 + + + + + + + + + + + + + 1 + + + 0.4 + + diff --git a/hrpsys_gazebo_tutorials/environment_models/drcbox/model.config b/hrpsys_gazebo_tutorials/environment_models/drcbox/model.config new file mode 100644 index 00000000..e8eff33a --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/drcbox/model.config @@ -0,0 +1,10 @@ + + + + drcbox + 0.1.0 + model.sdf + + drcbox + + diff --git a/hrpsys_gazebo_tutorials/environment_models/drcbox/model.sdf b/hrpsys_gazebo_tutorials/environment_models/drcbox/model.sdf new file mode 100644 index 00000000..44cb44a6 --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/drcbox/model.sdf @@ -0,0 +1,150 @@ + + + + + + model://drcbox-drcbox-base-0 + 0.0 0.0 0.0 0.0 0.0 0.0 + drcbox-drcbox-base-0 + + + + model://drcbox-valve-small-0 + 0.25 0.385 0.98 1.5708 0.0 -1.5708 + drcbox-valve-small-0 + + + + model://drcbox-valve-large-0 + 0.2 -0.01 1.175 0.0 -1.5708 0.0 + drcbox-valve-large-0 + + + + model://drcbox-valve-bar-0 + 0.25 -0.38 0.98 0.0 -1.5708 0.0 + drcbox-valve-bar-0 + + + + model://drcbox-drill-wall-0 + 0.5 -0.44 0.5 0.0 0.0 1.5708 + drcbox-drill-wall-0 + + + + model://drcbox-drill-table-0 + 1.015 -0.4 0.96 0.0 0.0 1.5708 + drcbox-drill-table-0 + + + + model://drcbox-hose-y-joint-0 + 0.225 0.45 0.91 -1.5708 1.5708 0.0 + drcbox-hose-y-joint-0 + + + + model://drcbox-hose-reel-0 + 0.765 0.475 0.93 0.0 0.0 0.0 + drcbox-hose-reel-0 + + + + world + drcbox-drcbox-base-0::nil_link + + 0 0 1 + + 0 + 0 + + + + + + drcbox-drcbox-base-0::nil_link + drcbox-valve-small-0::CRANK-ROOT-LINK_link + + 0 0 1 + + 0 + 0 + + + + + + drcbox-drcbox-base-0::nil_link + drcbox-valve-large-0::CRANK-ROOT-LINK_link + + 0 0 1 + + 0 + 0 + + + + + + drcbox-drcbox-base-0::nil_link + drcbox-valve-bar-0::CRANK-ROOT-LINK_link + + 0 0 1 + + 0 + 0 + + + + + + drcbox-drcbox-base-0::nil_link + drcbox-drill-wall-0::nil_link + + 0 0 1 + + 0 + 0 + + + + + + drcbox-drcbox-base-0::nil_link + drcbox-drill-table-0::nil_link + + 0 0 1 + + 0 + 0 + + + + + + drcbox-drcbox-base-0::nil_link + drcbox-hose-y-joint-0::nil_link + + 0 0 1 + + 0 + 0 + + + + + + drcbox-drcbox-base-0::nil_link + drcbox-hose-reel-0::ROOT-LINK_link + + 0 0 1 + + 0 + 0 + + + + + + diff --git a/hrpsys_gazebo_tutorials/environment_models/empty_wall/model.config b/hrpsys_gazebo_tutorials/environment_models/empty_wall/model.config new file mode 100644 index 00000000..bbee6d0e --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/empty_wall/model.config @@ -0,0 +1,14 @@ + + + + DRC Practice: Wheel valve large wall + 0.1.0 + model.sdf + + Nate Koenig + nate@osrfoundation.org + + + A combination of drc_practice_wall and multiple drc_practice_wheel_valve_large models. + + diff --git a/hrpsys_gazebo_tutorials/environment_models/empty_wall/model.sdf b/hrpsys_gazebo_tutorials/environment_models/empty_wall/model.sdf new file mode 100644 index 00000000..1da7d814 --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/empty_wall/model.sdf @@ -0,0 +1,23 @@ + + + + + model://drc_practice_valve_wall + wall + false + + + + world + wall::link + + 0 0 1 + + 0 + 0 + + + + + + diff --git a/hrpsys_gazebo_tutorials/environment_models/manifest.xml b/hrpsys_gazebo_tutorials/environment_models/manifest.xml new file mode 100644 index 00000000..7fb370f0 --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/manifest.xml @@ -0,0 +1,30 @@ + + + + hrpsys_gazebo + Creative Commons Attribution 3.0 Unported + + + file://3d-coord-arrow + file://3d-coord-arrow_static + file://83B1_valve_wall + file://83B1_wall + file://cupboard + file://cutout_wall + file://empty_wall + file://simple_box + file://wheel_valve_wall + file://dewalt_dc550ka + file://drcbox + file://drcbox-drcbox-base-0 + file://drcbox-drill-table-0 + file://drcbox-drill-wall-0 + file://drcbox-hose-reel-0 + file://drcbox-hose-y-joint-0 + file://drcbox-valve-bar-0 + file://drcbox-valve-large-0 + file://drcbox-valve-small-0 + file://basket + file://drc_debris + + diff --git a/hrpsys_gazebo_tutorials/environment_models/simple_box/meshes/nil_link_mesh.dae b/hrpsys_gazebo_tutorials/environment_models/simple_box/meshes/nil_link_mesh.dae new file mode 100644 index 00000000..262b49d0 --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/simple_box/meshes/nil_link_mesh.dae @@ -0,0 +1,101 @@ + + + + + Someone + Assimp Collada Exporter + + 2000-01-01T23:59:59 + 2000-01-01T23:59:59 + + Y_UP + + + + + + + + 0 0 0 1 + + + 0.45 0.45 0.5 1 + + + 0.9 0.9 1 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + + + + + + -0.15 -0.3 0.5 0.15 -0.3 0.5 0.15 0.3 0.5 -0.15 0.3 0.5 0.15 -0.3 -0.5 -0.15 -0.3 -0.5 -0.15 0.3 -0.5 0.15 0.3 -0.5 -0.15 0.3 -0.5 -0.15 0.3 0.5 0.15 0.3 0.5 0.15 0.3 -0.5 0.15 0.3 -0.5 0.15 0.3 0.5 0.15 -0.3 0.5 0.15 -0.3 -0.5 0.15 -0.3 -0.5 0.15 -0.3 0.5 -0.15 -0.3 0.5 -0.15 -0.3 -0.5 -0.15 -0.3 -0.5 -0.15 -0.3 0.5 -0.15 0.3 0.5 -0.15 0.3 -0.5 + + + + + + + + + + 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 1 0 0 1 0 0 1 0 0 1 0 1 0 -0 1 0 -0 1 0 -0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/environment_models/simple_box/model.config b/hrpsys_gazebo_tutorials/environment_models/simple_box/model.config new file mode 100644 index 00000000..4bc82517 --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/simple_box/model.config @@ -0,0 +1,10 @@ + + + simple-box + 0.1.0 + model.urdf + + This model was automatically generated by converting the eus model. + + + diff --git a/hrpsys_gazebo_tutorials/environment_models/simple_box/model.urdf b/hrpsys_gazebo_tutorials/environment_models/simple_box/model.urdf new file mode 100644 index 00000000..5e390e59 --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/simple_box/model.urdf @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + Gazebo/Blue + + + 2.0 + 2.0 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/hrpsys_gazebo_tutorials/environment_models/wheel_valve_wall/model.config b/hrpsys_gazebo_tutorials/environment_models/wheel_valve_wall/model.config new file mode 100644 index 00000000..bbee6d0e --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/wheel_valve_wall/model.config @@ -0,0 +1,14 @@ + + + + DRC Practice: Wheel valve large wall + 0.1.0 + model.sdf + + Nate Koenig + nate@osrfoundation.org + + + A combination of drc_practice_wall and multiple drc_practice_wheel_valve_large models. + + diff --git a/hrpsys_gazebo_tutorials/environment_models/wheel_valve_wall/model.sdf b/hrpsys_gazebo_tutorials/environment_models/wheel_valve_wall/model.sdf new file mode 100644 index 00000000..f82b1e24 --- /dev/null +++ b/hrpsys_gazebo_tutorials/environment_models/wheel_valve_wall/model.sdf @@ -0,0 +1,91 @@ + + + + + model://drc_practice_valve_wall + wall + false + + + + world + wall::link + + 0 0 1 + + 0 + 0 + + + + + + model://drc_practice_handle_wheel_valve + valve_0 + 0.919587 -0.0092 0.285 0 0 0 + + + + model://drc_practice_handle_wheel_valve + valve_1 + 0.919587 -0.0092 0.8954 0 0 0 + + + + model://drc_practice_handle_wheel_valve + valve_2 + 0.919587 -0.0092 1.5058 0 0 0 + + + + model://drc_practice_handle_wheel_valve + valve_3 + 0.919587 -0.0092 2.1162 0 0 0 + + + + + model://drc_practice_wheel_valve_large + valve_4 + 0.614335 -0.0092 0.5896 0 0 0 + + + + model://drc_practice_wheel_valve_large + valve_5 + 0.614335 -0.0092 1.2 0 0 0 + + + + model://drc_practice_wheel_valve_large + valve_6 + 0.614335 -0.0092 1.8104 0 0 0 + + + + + model://drc_practice_ball_valve + valve_7 + 0.309083 -0.0092 0.285 0 0 0 + + + + model://drc_practice_ball_valve + valve_8 + 0.309083 -0.0092 0.8954 0 0 0 + + + + model://drc_practice_ball_valve + valve_9 + 0.309083 -0.0092 1.5058 0 0 0 + + + + model://drc_practice_ball_valve + valve_10 + 0.309083 -0.0092 2.1162 0 0 0 + + + + diff --git a/hrpsys_gazebo_tutorials/euslisp/calc-joint-error.l b/hrpsys_gazebo_tutorials/euslisp/calc-joint-error.l new file mode 100644 index 00000000..b87bd134 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/calc-joint-error.l @@ -0,0 +1,60 @@ +#!/usr/bin/env roseus + +(ros::load-ros-manifest "roseus") +(ros::load-ros-manifest "hrpsys_gazebo_msgs") +(ros::load-ros-manifest "sensor_msgs") + +(ros::roseus "joint_error_publisher") + + +;; method call +(defclass calc-joint-error-class + :super propertied-object + :slots (joint-name-list + joint-command-vec joint-state-vec + joint-error-vec)) +(defmethod calc-joint-error-class + (:init + () + (ros::subscribe "/HRP2JSKNT/joint_command" + hrpsys_gazebo_msgs::JointCommand #'send self :joint-command-cb) + (ros::subscribe "/joint_states" + sensor_msgs::JointState #'send self :joint-state-cb) + (ros::advertise "/joint_error" std_msgs::Float64MultiArray 1)) + (:joint-command-cb + (msg) + ;;(print (send msg :position)) + (setq joint-command-vec (send msg :position)) + (when (and joint-command-vec joint-state-vec) + (setq joint-error-vec + (concatenate float-vector (mapcar #'rad2deg + (concatenate cons (v- joint-state-vec joint-command-vec))))) + (send self :publish-error)) + ) + (:joint-state-cb + (msg) + ;;(print (send msg :name)) + ;;(print (send msg :position)) + (unless joint-name-list + (setq joint-name-list (send msg :name))) + (setq joint-state-vec (send msg :position)) + (when (and joint-command-vec joint-state-vec) + (setq joint-error-vec + (concatenate float-vector (mapcar #'rad2deg + (concatenate cons (v- joint-state-vec joint-command-vec))))) + (send self :publish-error)) + ) + (:publish-error + () + (setq msg (instance std_msgs::Float64MultiArray :init)) + (when joint-error-vec + (send msg :data joint-error-vec)) + (ros::publish "/joint_error" msg) + ) + ) +(setq m (instance calc-joint-error-class :init)) + +(do-until-key + (ros::spin-once) +) + diff --git a/hrpsys_gazebo_tutorials/euslisp/gazebo-msgs-util.l b/hrpsys_gazebo_tutorials/euslisp/gazebo-msgs-util.l new file mode 100644 index 00000000..50458b86 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/gazebo-msgs-util.l @@ -0,0 +1,269 @@ +(ros::load-ros-manifest "gazebo_msgs") + +#| +topic +"/gazebo/set_link_state" gazebo_msgs::LinkState +"/gazebo/set_model_state" gazebo_msgs::ModelState +|# +;; +;; get states topic +;; +(defun gazebo-get-link-states (&optional (timeout 1000)) + (one-shot-subscribe "/gazebo/link_states" gazebo_msgs::LinkStates :timeout timeout)) +(defun gazebo-get-model-states (&optional (timeout 1000)) + (one-shot-subscribe "/gazebo/model_states" gazebo_msgs::ModelStates :timeout timeout)) + +;; +;; wrench service +;; +(defun gazebo-apply-body-wrench (body_name wrench &key (reference_frame "") + (start_time) (duration) + (reference_point)) + (let ((srv (instance gazebo_msgs::ApplyBodyWrenchRequest :init + :body_name body_name + :reference_frame reference_frame + :reference_point reference_point + :wrench wrench + :start_time start_time + :ducation duration + ))) + (ros::service-call "/gazebo/apply_body_wrench" srv))) +(defun gazebo-clear-body-wrenches (body_name) + (let ((srv (instance gazebo_msgs::BodyRequestRequest :init + :body_name body_name))) + (ros::service-call "/gazebo/clear_body_wrench" srv))) + +;; +;; joint service +;; +(defun gazebo-apply-joint-effort (joint_name effort &key (start_time) (duration)) + (let ((srv (instance gazebo_msgs::ApplyJointEffortRequest :init + :joint_name joint_name + :effort effort + :start_time start_time + :ducation duration + ))) + (ros::service-call "/gazebo/apply_joint_effort" srv))) +(defun gazebo-clear-joint-forces (joint_name) + (let ((srv (instance gazebo_msgs::JointRequestRequest :init + :joint_name joint_name))) + (ros::service-call "/gazebo/clear_joint_forces" srv))) + +;; +;; set properties service +;; +(defun gazebo-set-joint-properties (joint_name) + (let ((srv (instance gazebo_msgs::SetJointPropertiesRequest :init + :joint_name joint_name + ;; :ode_joint_config (instance gazebo_msgs::ODEJointProperties :init) + ))) + (ros::service-call "/gazebo/set_joint_properties" srv))) +(defun gazebo-set-link-properties (link_name) + (let ((srv (instance gazebo_msgs::SetLinkPropertiesRequest :init + :link_name link_name + ;; :com (ros::coords->tf-pose cds) + ;; :gravity_mode + ;; :mass + ;; :ixx + ;; :ixy + ;; :ixz + ;; :iyy + ;; :iyz + ;; :izz + ))) + (ros::service-call "/gazebo/set_link_properties" srv))) +(defun gazebo-set-physics-properties () + (let ((srv (instance gazebo_msgs::SetPhysicsPropertiesRequest :init + ;; :time_step + ;; :max_update_rate + ;; :gravity + ;; :ode_config (instance gazebo_msgs::ODEPhysics :init) + ))) + (ros::service-call "/gazebo/set_physics_properties" srv))) + +;; +;; get properties service +;; +(defun gazebo-get-joint-properties (joint_name) + (let ((srv (instance gazebo_msgs::GetJointPropertiesRequest :init + :joint_name joint_name))) + (ros::service-call "/gazebo/get_joint_properties" srv))) +(defun gazebo-get-link-properties (link_name) + (let ((srv (instance gazebo_msgs::GetLinkPropertiesRequest :init + :link_name link_name))) + (ros::service-call "/gazebo/get_link_properties" srv))) +(defun gazebo-get-model-properties (model_name) + (let ((srv (instance gazebo_msgs::GetModelPropertiesRequest :init + :model_name model_name))) + (ros::service-call "/gazebo/get_model_properties" srv))) +(defun gazebo-get-physics-properties () + (let ((srv (instance gazebo_msgs::GetPhysicsPropertiesRequest))) + (ros::service-call "/gazebo/get_physics_properties" srv))) +(defun gazebo-get-world-properties () + (let ((srv (instance gazebo_msgs::GetWorldPropertiesRequest))) + (ros::service-call "/gazebo/get_world_properties" srv))) + +;; +;; get state service +;; +(defun gazebo-get-link-state (link_name &optional (ref_frame "")) + (let ((srv (instance gazebo_msgs::GetLinkStateRequest + :init :link_name link_name + :reference_frame ref_frame))) + (ros::service-call "/gazebo/get_link_state" srv))) +(defun gazebo-get-model-state (model_name &optional (rel_name "")) + (let ((srv (instance gazebo_msgs::GetModelStateRequest + :init :model_name model_name + :relative_entity_name rel_name))) + (ros::service-call "/gazebo/get_model_state" srv))) + +;; +;; set state service +;; +(defun gazebo-set-link-state (link_name link_coords &key (twist (instance geometry_msgs::Twist :init)) + (reference-frame "")) + (let ((srv (instance gazebo_msgs::SetLinkStateRequest :init + :link_state + (instance gazebo_msgs::LinkState :init + :link_name link_name + :pose (ros::coords->tf-pose link_coords) + :twist twist + :reference_frame reference-frame)))) + (ros::service-call "/gazebo/set_link_state" srv))) +(defun gazebo-set-model-state (model_name model_coords &key (twist (instance geometry_msgs::Twist :init)) + (reference-frame "")) + (let ((srv (instance gazebo_msgs::SetModelStateRequest :init + :model_state + (instance gazebo_msgs::ModelState :init + :model_name model_name + :pose (ros::coords->tf-pose model_coords) + :twist twist + :reference_frame reference-frame)))) + (ros::service-call "/gazebo/set_model_state" srv))) + +;; +;; spawn and delete model +;; +(defun gazebo-spawn-model (model_name + model_xml + &key (name_space "/") (initial-pose (make-coords)) + (reference-frame "") (type :urdf) (wait nil)) + + (let ((srv (instance gazebo_msgs::SpawnModelRequest :init + :model_name model_name + :model_xml model_xml + :robot_namespace name_space + :initial_pose (ros::coords->tf-pose initial-pose) + :reference_frame reference-frame)) + res) + (case type + (:urdf + (if wait (ros::wait-for-service "/gazebo/spawn_urdf_model")) + (setq res (ros::service-call "/gazebo/spawn_urdf_model" srv))) + (:sdf + (if wait (ros::wait-for-service "/gazebo/spawn_sdf_model")) + (setq res (ros::service-call "/gazebo/spawn_sdf_model" srv))) + (:gazebo + (if wait (ros::wait-for-service "/gazebo/spawn_gazebo_model")) + (setq res (ros::service-call "/gazebo/spawn_gazebo_model" srv))) + (t (ros::ros-error "unknown type ~A" type))) + res + )) +(defun gazebo-delete-model (model_name) + (let ((srv (instance gazebo_msgs::DeleteModelRequest :init + :model_name model_name))) + (ros::service-call "/gazebo/delete_model" srv))) + +;; set configuration +(defun gazebo-set-model-configuration (model_name &key (param_name "") (wait nil) + (joint-list) (name-list) (positions)) + (if wait (ros::wait-for-service "/gazebo/set_model_configuration")) + (let ((srv (instance gazebo_msgs::SetModelConfigurationRequest :init + :model_name model_name + :urdf_param_name param_name ;; not using now in gazebo_ros_pkgs + :joint_names + (if joint-list + (mapcar #'(lambda (j) (format nil "~A::~A" model_name (send j :name))) joint-list) + name-list) + :joint_positions + (if joint-list + (map float-vector #'(lambda (j) (send j :ros-joint-angle)) joint-list) + positions) + ))) + (ros::service-call "/gazebo/set_model_configuration" srv))) + +;; +;; simulation util +;; +(defun gazebo-pause-physics (&optional (wait nil)) + (if wait (ros::wait-for-service "/gazebo/pause_physics")) + (let ((srv (instance std_srvs::EmptyRequest :init))) + (ros::service-call "/gazebo/pause_physics" srv))) +(defun gazebo-unpause-physics (&optional (wait nil)) + (if wait (ros::wait-for-service "/gazebo/unpause_physics")) + (let ((srv (instance std_srvs::EmptyRequest :init))) + (ros::service-call "/gazebo/unpause_physics" srv))) +(defun gazebo-reset-simulation () ;; controller not be reseted + (let ((srv (instance std_srvs::EmptyRequest :init))) + (ros::service-call "/gazebo/reset_simulation" srv))) +(defun gazebo-reset-world () + (let ((srv (instance std_srvs::EmptyRequest :init))) + (ros::service-call "/gazebo/reset_world" srv))) + +(defun hrpsys-servo-on () + (send *ri* :RobotHardwareService_power :name "all" :ss 0) + (unix::usleep (* 1000 1000)) + (send *ri* :StateHolderService_goActual) + (unix::usleep (* 2 1000 1000)) + (send *ri* :RobotHardwareService_servo :name "all" :ss 0) + ) + +(defun hrpsys-servo-off () + (send *ri* :RobotHardwareService_servo :name "all" :ss 1) + (unix::usleep (* 1000 1000)) + (send *ri* :RobotHardwareService_power :name "all" :ss 1) + ) + +;; +;; euslisp utility +;; +(defun read-xml-from-file (path) + (let ((rpath (if (substringp "://" path) + (ros::resolve-ros-path path) path)) + (newline (coerce (list 10) string)) + str) + (when rpath + (with-open-file + (f rpath :direction :input) + (let (ln) + (while (setq ln (read-line f nil nil)) + (push ln str)))) + (reduce #'(lambda (x y) (concatenate string y newline x)) str) + ) + )) + +;; hrpsys_gazebo_general +(defun gazebo-reset-joint-reference (robotname &optional (wait nil)) + (let ((sname (format nil "~A/reset_joint_reference" robotname)) + (srv (instance std_srvs::EmptyRequest :init))) + (if wait (ros::wait-for-service sname)) + (ros::service-call sname srv))) + +#| +(ros::roseus "gazebomsgtest") +(load "package://hrpsys_ros_bridge_tutorials/euslisp/samplerobot-interface.l") +(samplerobot) +(send *samplerobot* :reset-pose) + +(gazebo-pause-physics) + +(gazebo-spawn-model "SampleRobot" (read-xml-from-file "package://SampleRobot/SampleRobot.urdf") + :initial-pose (make-coords :pos #f(0 0 1000))) +(gazebo-get-model-properties "SampleRobot") + +(gazebo-set-model-configuration "SampleRobot" :joint-list (send *samplerobot* :joint-list)) +(gazebo-reset-joint-reference) +(gazebo-set-model-state "SampleRobot" (make-coords :pos #f(0 0 760))) + +(gazebo-unpause-physics) +|# \ No newline at end of file diff --git a/hrpsys_gazebo_tutorials/euslisp/gazebo-plugin-utils.l b/hrpsys_gazebo_tutorials/euslisp/gazebo-plugin-utils.l new file mode 100644 index 00000000..d54477b0 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/gazebo-plugin-utils.l @@ -0,0 +1,196 @@ +#!/usr/bin/env roseus + +(ros::load-ros-manifest "geometry_msgs") + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; class definition + +(defun init-gazebo-plugin + (&optional (_objname "") (_objmodel nil)) + (let* ((gp (instance gazebo-plugin-obj-operate :init _objname))) + (when _objmodel (send _objmodel :put :gp gp)) + gp)) + +(defclass gazebo-plugin-obj-operate + :super propertied-object + :slots (objname + abs-vel abs-accel rel-vel rel-accel pose) + ) + +(defmethod gazebo-plugin-obj-operate + ;; initialize + (:init + (&optional (_objname "")) + (setq objname _objname) + (ros::roseus "GazeboPluginUtilsEus") + (ros::rate 100) + (send self :init-add-force) + (send self :init-set-vel) + (send self :init-get-vel) + (send self :init-set-vel) + (send self :update)) + (:update () + (ros::spin-once)) + ;; add-froce plugin ;;;;;; + (:init-add-force + () + (ros::roseus "AddForceEus") + (ros::advertise (format nil "~a~a" objname "/AddForcePlugin/ForceCommand") geometry_msgs::wrench 1)) + (:add-force + (_f &optional (_t (float-vector 0 0 0))) + (let* ((msg (instance geometry_msgs::wrench :init))) + (send msg :force :x (elt _f 0)) + (send msg :force :y (elt _f 1)) + (send msg :force :z (elt _f 2)) + (send msg :torque :x (elt _t 0)) + (send msg :torque :y (elt _t 1)) + (send msg :torque :z (elt _t 2)) + (ros::publish (format nil "~a~a" objname "/AddForcePlugin/ForceCommand") msg))) + (:reset-force + () + (send self :add-force (float-vector 0 0 0))) + ;; get-vel plugin ;;;;;; + (:init-get-vel + () + (ros::roseus "GetVelEus") + (ros::subscribe (format nil "~a~a" objname "/GetVelPlugin/AbsVel") geometry_msgs::TwistStamped #'send self :get-abs-vel-cb) + (ros::subscribe (format nil "~a~a" objname "/GetVelPlugin/AbsAccel") geometry_msgs::TwistStamped #'send self :get-abs-vel-cb) + (ros::subscribe (format nil "~a~a" objname "/GetVelPlugin/RelVel") geometry_msgs::TwistStamped #'send self :get-rel-vel-cb) + (ros::subscribe (format nil "~a~a" objname "/GetVelPlugin/RelAccel") geometry_msgs::TwistStamped #'send self :get-rel-accel-cb) + (ros::subscribe (format nil "~a~a" objname "/GetVelPlugin/Pose") geometry_msgs::PoseStamped #'send self :get-vel-cb)) + (:get-abs-vel-cb (msg) (setq abs-vel msg)) + (:get-abs-accel-cb (msg) (setq abs-accel msg)) + (:get-rel-vel-cb (msg) (setq rel-vel msg)) + (:get-rel-accel-cb (msg) (setq rel-accel msg)) + (:get-vel-cb (msg) (setq pose msg)) + (:get-abs-vel + () + (send self :update) + abs-vel) + (:get-abs-accel + () + (send self :update) + abs-accel) + (:get-rel-vel + () + (send self :update) + rel-vel) + (:get-rel-accel + () + (send self :update) + rel-accel) + (:get-time-vel + (&optional (vel (send self :get-rel-vel))) + (send (send (send vel :header) :stamp) :to-sec)) + (:get-linear-vel + (&optional (vel (send self :get-rel-vel))) + (rosvector32eusvector (send (send vel :twist) :linear))) + (:get-angular-vel + (&optional (vel (send self :get-rel-vel))) + (rosvector32eusvector (send (send vel :twist) :angular))) + (:get-pose + () + (send self :update) + (let* ((pos (scale 1000 (rosvector32eusvector (send (send pose :pose) :position)))) + (quat (rosvector42eusvector (send (send pose :pose) :orientation))) + (rot (quaternion2matrix quat))) + (make-coords :pos pos :rot rot))) + ;; set-vel plugin ;;;;;; + (:init-set-vel + () + (ros::roseus "SetVelEus") + (ros::advertise (format nil "~a~a" objname "/SetVelPlugin/PoseCommand") geometry_msgs::pose 1) + (ros::advertise (format nil "~a~a" objname "/SetVelPlugin/VelCommand") geometry_msgs::twist 1) + (ros::rate 100)) + (:set-pose + (&optional (_c (make-coords))) + (let* ((msg (instance geometry_msgs::pose :init)) + (pos (scale 0.001 (send _c :worldpos))) + (rot (send _c :worldrot)) + (quat (matrix2quaternion rot))) + (send msg :position :x (elt pos 0)) + (send msg :position :y (elt pos 1)) + (send msg :position :z (elt pos 2)) + (send msg :orientation :w (elt quat 0)) + (send msg :orientation :x (elt quat 1)) + (send msg :orientation :y (elt quat 2)) + (send msg :orientation :z (elt quat 3)) + (ros::publish (format nil "~a~a" objname "/SetVelPlugin/PoseCommand") msg))) + (:set-vel + (_v &optional (_w (float-vector 0 0 0))) + (let* ((msg (instance geometry_msgs::twist :init))) + (send msg :linear :x (elt _v 0)) + (send msg :linear :y (elt _v 1)) + (send msg :linear :z (elt _v 2)) + (send msg :angular :x (elt _w 0)) + (send msg :angular :y (elt _w 1)) + (send msg :angular :z (elt _w 2)) + (ros::publish (format nil "~a~a" objname "/SetVelPlugin/VelCommand") msg))) + (:reset-world + () + (send self :reset-force) + (send self :set-pose)) + ) +;;(warn "~%(setq *gp* (init-gazebo-plugin \"simple_box\"))") +;;(warn "~%(send *gp* :add-force #f(50 0 0))") +;;(warn "~%(send *gp* :set-vel #f(0.5 0 0) #f(0 0 0))") + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; pose + +(defun obj-gzb2eus + (&optional (obj *obj*) &key (loop? nil)) + (unless (send obj :get :gp) + (warning-message 1 "^a has no gazebo plugin instance.~%" (send obj :name)) + (return-from gzb2eus)) + (do-until-key + (let* ((pose (send (send obj :get :gp) :get-pose))) + (send obj :newcoords pose)) + (send *pickview* :draw-objects) + (unless loop? (return)) + (unix::usleep (* 10 1000))) + ) + +(defun obj-eus2gzb + (&optional (obj *obj*)) + (unless (send obj :get :gp) + (warning-message 1 "^a has no gazebo plugin instance.~%" (send obj :name)) + (return-from eus2gzb)) + (let* ((pose (send obj :worldcoords))) + (send (send obj :get :gp) :set-pose pose)) + ) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; samples + +(defun tilt-box-by-pd-control (&optional (objname "") (dest-pitch (/ pi 4))) + (setq *gp* (init-gazebo-plugin objname)) + (unix::usleep (* 1000 1000)) + (do-until-key + (let* ((dest-pitch-angle dest-pitch) + (crnt-pitch-angle (elt (car (rpy-angle (send (send *gp* :get-pose) :rot))) 1)) + (diff-pitch-angle (- dest-pitch-angle crnt-pitch-angle)) + (crnt-dpitch-angle (elt (send *gp* :get-angular-vel (send *gp* :get-abs-vel)) 1)) + (p-gain 4.0) ;; (p-gain 150) + (d-gain 4.0) ;; (d-gain 75) + (pitch-moment (+ (* p-gain diff-pitch-angle) (- (* d-gain crnt-dpitch-angle)))) + (f (float-vector 0 0 0)) + (m (float-vector 0 pitch-moment 0))) + (send *gp* :add-force f m) + (warn "angle: ~a moment: ~a~%" (rad2deg crnt-pitch-angle) pitch-moment) + (unix::usleep (* 100 1000)))) + ) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; utils + +(defun rosvector32eusvector (vec) + (let* ((x (send vec :x)) (y (send vec :y)) (z (send vec :z))) + (float-vector x y z))) +(defun rosvector42eusvector (vec) + (let* ((x (send vec :x)) (y (send vec :y)) (z (send vec :z)) (w (send vec :w))) + (float-vector w x y z))) diff --git a/hrpsys_gazebo_tutorials/euslisp/hand-command-publisher.l b/hrpsys_gazebo_tutorials/euslisp/hand-command-publisher.l new file mode 100644 index 00000000..71525cb2 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/hand-command-publisher.l @@ -0,0 +1,190 @@ +(ros::load-ros-manifest "hrpsys_gazebo_msgs") + +(when (boundp 'hrp2jsknt-interface) + (defmethod hrp2jsknt-interface + (:init-hand + () + (setq hcp (instance hand-command-publisher-class :init))) + (:hand-angle-vector + (av &optional l/r) + (cond ((or (equal l/r :lhand) (equal l/r :larm)) + (send hcp :send-command (list av nil))) + ((or (equal l/r :rhand) (equal l/r :rarm)) + (send hcp :send-command (list nil av))) + (t + (send hcp :send-command av)) + )) + (:hand-angle-state-vector + (&optional l/r) + (cond ((or (equal l/r :lhand) (equal l/r :larm)) + (elt (send hcp :get-state) 0)) + ((or (equal l/r :rhand) (equal l/r :rarm)) + (elt (send hcp :get-state) 1)) + (t + (send hcp :get-state)) + )) + (:hand-effort-vector + (ef &optional l/r) + (cond ((or (equal l/r :lhand) (equal l/r :larm)) + (send hcp :send-effort-command (list ef nil))) + ((or (equal l/r :rhand) (equal l/r :rarm)) + (send hcp :send-effort-command (list nil ef))) + (t + (send hcp :send-effort-command (list ef ef))) + )) + (:start-grasp + (&optional l/r) + (send self :hand-effort-vector (float-vector 0 -25 25 0 25 25) l/r)) + (:stop-grasp + (&optional l/r) + (send self :hand-effort-vector (float-vector 0 0 0 0 0 0) l/r) + ))) +(when (boundp 'hrp2jsknts-interface) + (defmethod hrp2jsknts-interface + (:init-hand + () + (setq hcp (instance hand-command-publisher-class :init))) + (:hand-angle-vector + (av &optional l/r) + (cond ((or (equal l/r :lhand) (equal l/r :larm)) + (send hcp :send-command (list av nil))) + ((or (equal l/r :rhand) (equal l/r :rarm)) + (send hcp :send-command (list nil av))) + (t + (send hcp :send-command av)) + )) + (:hand-angle-state-vector + (&optional l/r) + (cond ((or (equal l/r :lhand) (equal l/r :larm)) + (elt (send hcp :get-state) 0)) + ((or (equal l/r :rhand) (equal l/r :rarm)) + (elt (send hcp :get-state) 1)) + (t + (send hcp :get-state)) + )) + (:hand-effort-vector + (ef &optional l/r) + (cond ((or (equal l/r :lhand) (equal l/r :larm)) + (send hcp :send-effort-command (list ef nil))) + ((or (equal l/r :rhand) (equal l/r :rarm)) + (send hcp :send-effort-command (list nil ef))) + (t + (send hcp :send-effort-command (list ef ef))) + )) + (:start-grasp + (&optional l/r) + (send self :hand-effort-vector (float-vector 0 -25 25 0 25 25) l/r)) + (:stop-grasp + (&optional l/r) + (send self :hand-effort-vector (float-vector 0 0 0 0 0 0) l/r) + ))) +;;(warn "~%") +;;(warn "(send *ri* (list (float-vector 10 20 30 40 50 60) (float-vector 50 40 30 20 10 0)))") +;;(warn "(send *ri* :get-state)~%") +;;(warn "(send *ri* :hand-angle-vector #f(10 20 30 40 50 60) :larm)") +;;(warn "(send *ri* :get-state :larm)~%") + + +(defclass hand-command-publisher-class + :super propertied-object + :slots (left-hand-av right-hand-av)) +(defmethod hand-command-publisher-class + (:init + () + (ros::advertise "/HRP3HAND_L/joint_command" hrpsys_gazebo_msgs::JointCommand 1) + (ros::advertise "/HRP3HAND_R/joint_command" hrpsys_gazebo_msgs::JointCommand 1) + (ros::subscribe "/HRP3HAND_L/robot_state" hrpsys_gazebo_msgs::RobotState #'send self :left-hand-cb) + (ros::subscribe "/HRP3HAND_R/robot_state" hrpsys_gazebo_msgs::RobotState #'send self :right-hand-cb) + ;; (ros::rate 100) + ) + (:send-command + (av-list) + (let* (left-av right-av) + (cond + ((vectorp av-list) + (setq right-av (if (>= (length av-list) 6) (subseq av-list 0 6))) + (setq left-av (if (>= (length av-list) 12) (subseq av-list 6 12)))) + (t + (setq right-av (elt av-list 0)) + (setq left-av (elt av-list 1)))) + (setq msg (instance hrpsys_gazebo_msgs::JointCommand :init)) + (when left-av + (send msg :position (concatenate float-vector (mapcar #'deg2rad (concatenate cons left-av)))) + (ros::publish "/HRP3HAND_L/joint_command" msg)) + (when right-av + (send msg :position (concatenate float-vector (mapcar #'deg2rad (concatenate cons right-av)))) + (ros::publish "/HRP3HAND_R/joint_command" msg))) + ) + (:send-effort-command + (ef-list) + (let* ((left-ef (elt ef-list 0)) + (right-ef (elt ef-list 1))) + (setq msg (instance hrpsys_gazebo_msgs::JointCommand :init)) + (when left-ef + (send msg :effort left-ef) + (ros::publish "/HRP3HAND_L/joint_command" msg)) + (when right-ef + (send msg :effort right-ef) + (ros::publish "/HRP3HAND_R/joint_command" msg))) + ) + (:get-state + () + (ros::spin-once) + (list left-hand-av right-hand-av)) + (:left-hand-cb + (msg) + (setq left-hand-av + (concatenate float-vector (mapcar #'rad2deg (concatenate cons (send msg :position))))) + ) + (:right-hand-cb + (msg) + (setq right-hand-av + (concatenate float-vector (mapcar #'rad2deg (concatenate cons (send msg :position))))) + )) +;;(warn "~%") +;;(warn "(setq *hc* (instance hand-command-publisher-class :init))") +;;(warn "(send *hc* :send-command (list (float-vector 0 0 0 0 0 0) (float-vector 30 30 30 30 30 30)))~%") +;;(warn "(send *hc* :send-command (list nil (float-vector 30 30 30 30 30 30)))~%") + + + + + +(defun send-hand-pose + (hpose &optional l/r) + (cond ((or (equal l/r :lhand) (equal l/r :larm)) + (send *ri* :hand-angle-vector (send (send *hrp2* :hand :larm) hpose) :larm)) + ((or (equal l/r :rhand) (equal l/r :rarm)) + (send *ri* :hand-angle-vector (send (send *hrp2* :hand :rarm) hpose) :rarm)) + (t + (send *ri* :hand-angle-vector (send (send *hrp2* :hand :larm) hpose) :larm) + (send *ri* :hand-angle-vector (send (send *hrp2* :hand :rarm) hpose) :rarm)))) + +(defun init-hand-pose + (&optional l/r) + (send-hand-pose :init-pose l/r)) + +(defun open-hand-pose + (&optional l/r) + (send-hand-pose :open-pose l/r)) + +(defun close-hand-pose + (&optional l/r) + (send-hand-pose :close-pose l/r)) + +(defun hook-hand-pose + (&optional l/r) + (send-hand-pose :hook-pose l/r)) + +(defun grasp-hand-pose + (&optional l/r) + (send-hand-pose :grasp-pose l/r)) + + +(defun start-grasp + (&optional l/r) + (send *ri* :start-grasp l/r)) + +(defun stop-grasp + (&optional l/r) + (send *ri* :stop-grasp l/r)) diff --git a/hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-interface-ex.l b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-interface-ex.l new file mode 100644 index 00000000..bc8cdf6f --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-interface-ex.l @@ -0,0 +1,40 @@ +(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l") +(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l") + +(load "package://hrpsys_gazebo_tutorials/euslisp/hand-command-publisher.l") +(load "package://hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-with-limb-trajectory.l") + +(defun hrp2jsknt-init-ex + (&key (real t)) + (cond + (real + (hrp2jsknt-init) + (send *ri* :init-hand)) + (t + (if (not (boundp '*hrp2jsknt*)) + (setq *hrp2jsknt* (instance hrp2jsknt-robot :init))))) + (setq *hrp2* *hrp2jsknt*) + (setq *robot* *hrp2jsknt*) + (objects (list *hrp2*)) + (send *irtviewer* :change-background #f(1 1 1))) + +(defun init + (&key (real t)) + (hrp2jsknt-init-ex :real real)) + +(defun reset-pose + (&key (wait-time 2000) (wait? t)) + (send-special-pose :reset-pose :wait-time wait-time :wait? wait?)) + +(defun reset-manip-pose + (&key (wait-time 2000) (wait? t)) + (send-special-pose :reset-manip-pose :wait-time wait-time :wait? wait?)) + +(defun send-special-pose + (pose &key (wait-time 2000) (wait? t)) + (send *ri* :angle-vector (send *robot* pose) wait-time) + (when wait? (send *ri* :wait-interpolation))) + +(defun model2real + () + (send *ri* :angle-vector (send *robot* :angle-vector))) \ No newline at end of file diff --git a/hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-with-limb-trajectory.l b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-with-limb-trajectory.l new file mode 100644 index 00000000..c05d7836 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-with-limb-trajectory.l @@ -0,0 +1,80 @@ +(ros::load-ros-manifest "control_msgs") + +(defmethod hrp2jsknt-interface + (:init + () + (prog1 (send-super :init :robot hrp2jsknt-robot) + ;; add controllers + (dolist (l (list + (cons :larm-controller "larm_controller/follow_joint_trajectory_action") + (cons :rarm-controller "rarm_controller/follow_joint_trajectory_action") + (cons :lleg-controller "lleg_controller/follow_joint_trajectory_action") + (cons :rleg-controller "rleg_controller/follow_joint_trajectory_action") + (cons :head-controller "head_controller/follow_joint_trajectory_action") + (cons :torso-controller "torso_controller/follow_joint_trajectory_action"))) + (let ((type (car l)) + (name (cdr l)) + action) + (setq action (find-if #'(lambda (ac) (string= name (send ac :name))) + controller-actions)) + (setf (gethash type controller-table) (list action)) + )))) + ;; controller setting + (:larm-controller + () + (list + (list + (cons :controller-action "larm_controller/follow_joint_trajectory_action") + (cons :controller-state "larm_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "LARM_JOINT0" "LARM_JOINT1" "LARM_JOINT2" "LARM_JOINT3" "LARM_JOINT4" "LARM_JOINT5" "LARM_JOINT6"))))) + (:rarm-controller + () + (list + (list + (cons :controller-action "rarm_controller/follow_joint_trajectory_action") + (cons :controller-state "rarm_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "RARM_JOINT0" "RARM_JOINT1" "RARM_JOINT2" "RARM_JOINT3" "RARM_JOINT4" "RARM_JOINT5" "RARM_JOINT6"))))) + (:lleg-controller + () + (list + (list + (cons :controller-action "lleg_controller/follow_joint_trajectory_action") + (cons :controller-state "lleg_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "LLEG_JOINT0" "LLEG_JOINT1" "LLEG_JOINT2" "LLEG_JOINT3" "LLEG_JOINT4" "LLEG_JOINT5" "LLEG_JOINT6"))))) + (:rleg-controller + () + (list + (list + (cons :controller-action "rleg_controller/follow_joint_trajectory_action") + (cons :controller-state "rleg_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "RLEG_JOINT0" "RLEG_JOINT1" "RLEG_JOINT2" "RLEG_JOINT3" "RLEG_JOINT4" "RLEG_JOINT5" "RLEG_JOINT6"))))) + (:head-controller + () + (list + (list + (cons :controller-action "head_controller/follow_joint_trajectory_action") + (cons :controller-state "head_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "HEAD_JOINT0" "HEAD_JOINT1"))))) + (:torso-controller + () + (list + (list + (cons :controller-action "torso_controller/follow_joint_trajectory_action") + (cons :controller-state "torso_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "CHEST_JOINT0" "CHEST_JOINT1"))))) + (:default-controller + () + (append + (send self :larm-controller) + (send self :rarm-controller) + (send self :lleg-controller) + (send self :rleg-controller) + (send self :head-controller) + (send self :torso-controller) + ))) diff --git a/hrpsys_gazebo_tutorials/euslisp/hrp2jsknts-interface-ex.l b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknts-interface-ex.l new file mode 100644 index 00000000..3de28af2 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknts-interface-ex.l @@ -0,0 +1,40 @@ +(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-interface.l") +(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l") + +(load "package://hrpsys_gazebo_tutorials/euslisp/hand-command-publisher.l") +(load "package://hrpsys_gazebo_tutorials/euslisp/hrp2jsknts-with-limb-trajectory.l") + +(defun hrp2jsknts-init-ex + (&key (real t)) + (cond + (real + (hrp2jsknts-init) + (send *ri* :init-hand)) + (t + (if (not (boundp '*hrp2jsknts*)) + (setq *hrp2jsknts* (instance hrp2jsknts-robot :init))))) + (setq *hrp2* *hrp2jsknts*) + (setq *robot* *hrp2jsknts*) + (objects (list *hrp2*)) + (send *irtviewer* :change-background #f(1 1 1))) + +(defun init + (&key (real t)) + (hrp2jsknts-init-ex :real real)) + +(defun reset-pose + (&key (wait-time 2000) (wait? t)) + (send-special-pose :reset-pose :wait-time wait-time :wait? wait?)) + +(defun reset-manip-pose + (&key (wait-time 2000) (wait? t)) + (send-special-pose :reset-manip-pose :wait-time wait-time :wait? wait?)) + +(defun send-special-pose + (pose &key (wait-time 2000) (wait? t)) + (send *ri* :angle-vector (send *robot* pose) wait-time) + (when wait? (send *ri* :wait-interpolation))) + +(defun model2real + () + (send *ri* :angle-vector (send *robot* :angle-vector))) \ No newline at end of file diff --git a/hrpsys_gazebo_tutorials/euslisp/hrp2jsknts-with-limb-trajectory.l b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknts-with-limb-trajectory.l new file mode 100644 index 00000000..fc08a966 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/hrp2jsknts-with-limb-trajectory.l @@ -0,0 +1,80 @@ +(ros::load-ros-manifest "control_msgs") + +(defmethod hrp2jsknts-interface + (:init + () + (prog1 (send-super :init :robot hrp2jsknts-robot) + ;; add controllers + (dolist (l (list + (cons :larm-controller "larm_controller/follow_joint_trajectory_action") + (cons :rarm-controller "rarm_controller/follow_joint_trajectory_action") + (cons :lleg-controller "lleg_controller/follow_joint_trajectory_action") + (cons :rleg-controller "rleg_controller/follow_joint_trajectory_action") + (cons :head-controller "head_controller/follow_joint_trajectory_action") + (cons :torso-controller "torso_controller/follow_joint_trajectory_action"))) + (let ((type (car l)) + (name (cdr l)) + action) + (setq action (find-if #'(lambda (ac) (string= name (send ac :name))) + controller-actions)) + (setf (gethash type controller-table) (list action)) + )))) + ;; controller setting + (:larm-controller + () + (list + (list + (cons :controller-action "larm_controller/follow_joint_trajectory_action") + (cons :controller-state "larm_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "LARM_JOINT0" "LARM_JOINT1" "LARM_JOINT2" "LARM_JOINT3" "LARM_JOINT4" "LARM_JOINT5" "LARM_JOINT6"))))) + (:rarm-controller + () + (list + (list + (cons :controller-action "rarm_controller/follow_joint_trajectory_action") + (cons :controller-state "rarm_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "RARM_JOINT0" "RARM_JOINT1" "RARM_JOINT2" "RARM_JOINT3" "RARM_JOINT4" "RARM_JOINT5" "RARM_JOINT6"))))) + (:lleg-controller + () + (list + (list + (cons :controller-action "lleg_controller/follow_joint_trajectory_action") + (cons :controller-state "lleg_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "LLEG_JOINT0" "LLEG_JOINT1" "LLEG_JOINT2" "LLEG_JOINT3" "LLEG_JOINT4" "LLEG_JOINT5" "LLEG_JOINT6"))))) + (:rleg-controller + () + (list + (list + (cons :controller-action "rleg_controller/follow_joint_trajectory_action") + (cons :controller-state "rleg_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "RLEG_JOINT0" "RLEG_JOINT1" "RLEG_JOINT2" "RLEG_JOINT3" "RLEG_JOINT4" "RLEG_JOINT5" "RLEG_JOINT6"))))) + (:head-controller + () + (list + (list + (cons :controller-action "head_controller/follow_joint_trajectory_action") + (cons :controller-state "head_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "HEAD_JOINT0" "HEAD_JOINT1"))))) + (:torso-controller + () + (list + (list + (cons :controller-action "torso_controller/follow_joint_trajectory_action") + (cons :controller-state "torso_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "CHEST_JOINT0" "CHEST_JOINT1"))))) + (:default-controller + () + (append + (send self :larm-controller) + (send self :rarm-controller) + (send self :lleg-controller) + (send self :rleg-controller) + (send self :head-controller) + (send self :torso-controller) + ))) diff --git a/hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l b/hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l new file mode 100644 index 00000000..31e3e87c --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l @@ -0,0 +1,131 @@ +#-:jsk +(jsk) +#-:rbrain-basic +(rbrain) + +(defun eus2urdf-for-gazebo (obj &optional name) + (let* ((model-name (string-downcase (or name (send obj :name)))) + (tmp-dir "/tmp")) + ;; check model is named + (unless (send obj :name) + (warn "(send obj :name) is nil. set name to model.~%") + (return-from eus2urdf-for-gazebo)) + ;; convert eus model to collada + (convert-rbrain-model-to-collada obj :model-name model-name :output-directory tmp-dir) + ;; call python script + (unix:system (format nil "rosrun hrpsys_gazebo_tutorials eus2urdf_for_gazebo_pyscript.py ~a ~a/~a-robot.dae" model-name tmp-dir model-name)) + )) +(warn "~%(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%") + +(defun irteus2urdf-for-gazebo + (model + &optional + name + (tmp-dir "/tmp")) + (cond + ((not (subclassp (class model) cascaded-link)) + (format t "invalid class, not childclass of cascaded-link~%")) + ((null (send model :links)) (format t "please setq links~%")) + (t + (setq name (send model :name)) + (if (or (not (stringp (send model :name))) + (zerop (length (send model :name)))) + (send model :name + (remove #\: (format nil "~A" (send model :name))))) + (collada::eus2collada model tmp-dir) + (cond + ((probe-file (format nil "~A/~A.dae" tmp-dir (send model :name))) + (format t "generate ~A.dae~%convert to urdf~%" (send model :name)) + (unix:system + (format nil + (concatenate + string + "rosrun hrpsys_gazebo_tutorials" + " eus2urdf_for_gazebo_pyscript.py ~a ~a/~a.dae") + (send model :name) tmp-dir (send model :name) + (send model :name) (send model :name)))) + (t (format nil "dae error~%"))) + (send model :name name) + ))) +(warn "~%(irteus2urdf-for-gazebo (make-national-laundry-machine) \"laundry\")~%") + +(defun eus2urdf-room-for-gazebo (room &key make-static make-fixed world-file-path-list) + (let* ((room-name (string-downcase (send room :name))) + (package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials"))))) + (dolist (obj (append (send room :all-objects) (send room :all-walls))) + (let* ((obj-name) + (obj-cnt 0)) + ;; deal with the objects with no name. (objects with no name cause an error in converting) + (cond ((null (send obj :name)) (send obj :name "no-name")) + ((symbolp (send obj :name)) (send obj :name (string-downcase (send obj :name))))) + ;; set obj-name + (while t + (setq obj-name (string-downcase (format nil "~a-~a-~a" room-name (send obj :name) obj-cnt))) + (let* ((model-file-path (format nil "~a/environment_models/~a" package-dir-path obj-name))) + (unless (probe-file model-file-path) (return))) + (incf obj-cnt)) + (dolist (world-file-path world-file-path-list) + ;; add the obects to the world file + (let* ((pos (scale 0.001 (send obj :worldpos))) + (pos-string (format nil "~a ~a ~a" (elt pos 0) (elt pos 1) (elt pos 2))) + (rpy (car (rpy-angle (send obj :worldrot)))) + (rpy-string (format nil "~a ~a ~a" (elt rpy 2) (elt rpy 1) (elt rpy 0)))) + (unix:system (format nil "sed -i -e \"s@ @ \\n \\n model://~a_static\\n ~a ~a\\n @g\" ~a" obj-name pos-string rpy-string world-file-path)))) + ;; convert the model + (eus2urdf-for-gazebo obj obj-name) + ;; make the static model + (when (or make-static world-file-path-list) + (unix:system (format nil "rosrun hrpsys_gazebo_tutorials make_static_model.py ~a" obj-name))) + ;; make the fixed model + (when (or make-fixed world-file-path-list) + (unix:system (format nil "rosrun hrpsys_gazebo_tutorials make_fixed_model.py ~a" obj-name))) + )) + ;; generate the model database file + (unix:system (format nil "rosrun hrpsys_gazebo_tutorials generate_model_database.py")) + )) +(warn "(eus2urdf-room-for-gazebo (room73b2))~%") + + +(defun generate-room-models (name) + ;; check the function making room exits. + (unless (functionp (read-from-string name)) + (warn "[ERROR] room (~a) is not found.~%" name) + (unless (substringp "room" name) + (generate-room-models (format nil "room~a" name))) + (return-from generate-room-models)) + ;; check the model is derived from the room class + (let* ((robot-list (list "SampleRobot" "HRP2JSK" "HRP2JSKNT" "HRP2JSKNTS")) + (world-file-path-list) + (room (funcall (read-from-string name)))) + (unless (derivedp room scene) + (warn "[ERROR] room (~a) is not room the model.~%" name) + (return-from generate-room-models)) + + ;; generate the world file + (dolist (robot-name robot-list) + (let* ((room-name (string-downcase (send room :name))) + (package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials")))) + (world-src-file-path (format nil "~a/worlds/world_source.world" package-dir-path)) + (world-new-file-path (format nil "~a/worlds/~a_~a.world" package-dir-path robot-name room-name))) + (unix:system (format nil "rm -rf ~a" world-new-file-path)) + (unix:system (format nil "cp ~a ~a" world-src-file-path world-new-file-path)) + (unix:system (format nil "sed -i -e \"s@ @ \\n \\n model://~a\\n 1.0 0 0.73 0 0 0\\n @g\" ~a" robot-name world-new-file-path)) + (push world-new-file-path world-file-path-list))) + + ;; convert models + (eus2urdf-room-for-gazebo room + :make-static t :make-fixed t :world-file-path-list world-file-path-list) + ;; generate the launch file + (dolist (robot-name robot-list) + (let* ((room-name (string-downcase (send room :name))) + (package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials")))) + (launch-src-file-path (format nil "~a/launch/gazebo_launch_source.launch" package-dir-path)) + (launch-new-file-path (format nil "~a/launch/gazebo_~a_no_controllers_in_~a.launch" package-dir-path (string-downcase robot-name) room-name))) + (unix:system (format nil "rm -rf ~a" launch-new-file-path)) + (unix:system (format nil "cp ~a ~a" launch-src-file-path launch-new-file-path)) + (unix:system (format nil "sed -i -e \"s@__world_name__@~a_~a.world@g\" ~a" robot-name room-name launch-new-file-path)) + (unix:system (format nil "sed -i -e \"s@__robot_name__@~a@g\" ~a" (string-downcase robot-name) launch-new-file-path)) + (warning-message 2 "You can start simulation with following command:~%roslaunch hrpsys_gazebo_tutorials gazebo_~a_no_controllers_in_~a.launch~%" (string-downcase robot-name) room-name)))) + ) +(warn "(generate-room-models \"room73b2\")~%") + diff --git a/hrpsys_gazebo_tutorials/euslisp/manip-obj-search.l b/hrpsys_gazebo_tutorials/euslisp/manip-obj-search.l new file mode 100644 index 00000000..76a68224 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/manip-obj-search.l @@ -0,0 +1,416 @@ +#-:jsk +(jsk) +#-:rbrain-basic +(rbrain) + +(load "package://hrpsys_gazebo_tutorials/euslisp/gazebo-plugin-utils") +(load "package://euslib/demo/s-noda/hrp2/my-util.l") + + + +(defun in-range (x max min) + (and (> x min) (< x max))) + +(defun ss-square (x) + (if (<= x 0) 0 (* x x))) + +(defun range-square (x max min) + (+ (ss-square (- x max)) (ss-square (- min x)))) + +(defun random-in-range (max min) + (+ (random (- max min)) min) + ) + +(defun get-random-idx-from-cum-ratio-list (crl) + (let* ((random-num (random 1.0)) + (ret (length crl))) + (dotimes (i (length crl)) + (when (< random-num (elt crl i)) + (setq ret i) + (return))) + ret)) + +(defun get-hori-angle (c) + (let* ((vert-vec (float-vector 0 0 1)) + (trans-c (make-coords :rot (send c :rot))) + (trans-vert-vec (send trans-c :transform-vector vert-vec)) + (inner-prod (v. vert-vec trans-vert-vec))) + (rad2deg (acos inner-prod)))) + + +(defun test () + (let* ((learning-elenum 40) + (learning-cnt 100) + (total-frame 50) + ;; (total-frame 100) + (real-time-update-rate 5) + (frame-dt (/ 200 real-time-update-rate)) + ;; (frame-dt (/ 50 real-time-update-rate)) + ;;;; for pushing + ;; (fx-max 100.0) (fx-min (- fx-max)) + ;; (fy-max 100.0) (fy-min (- fy-max)) + ;; (fz-max 100.0) (fz-min (- fz-max)) + ;; (mx-max 10.0) (mx-min (- mx-max)) + ;; (my-max 10.0) (my-min (- my-max)) + ;; (mz-max 10.0) (mz-min (- mz-max)) + ;;;; for lifting + ;; (fx-max 300.0) (fx-min (- fx-max)) + ;; (fy-max 300.0) (fy-min (- fy-max)) + ;; (fz-max 300.0) (fz-min (- fz-max)) + ;; (mx-max 1.0) (mx-min (- mx-max)) + ;; (my-max 1.0) (my-min (- my-max)) + ;; (mz-max 1.0) (mz-min (- mz-max)) + ;;;; for pivot + (fx-max 100.0) (fx-min (- fx-max)) + (fy-max 100.0) (fy-min (- fy-max)) + (fz-max 100.0) (fz-min (- fz-max)) + (mx-max 50.0) (mx-min (- mx-max)) + (my-max 40.0) (my-min (- my-max)) + (mz-max 50.0) (mz-min (- mz-max)) + (fm-seq-list nil) + (obj-cog-height 0.5)) + ;; init list of gene + (dotimes (i learning-elenum) + (let* ((init-fm-seq)) + (dotimes (i total-frame) + (let* ((init-f (float-vector (random-in-range fx-max fx-min) (random-in-range fy-max fy-min) (random-in-range fz-max fz-min))) + (init-m (float-vector (random-in-range mx-max mx-min) (random-in-range my-max my-min) (random-in-range mz-max mz-min))) + (init-fm (list init-f init-m))) + (push-back init-fm init-fm-seq) + )) + (push-back init-fm-seq fm-seq-list) + )) + ;; loop of learning cycle + (dotimes (i learning-cnt) + (warning-message 2 "learning cnt cycle ~a/~a start.~%" (+ i 1) learning-cnt) + (let* ((learning-eval-list nil) + (learning-eval-value-ave nil) + (select-ratio-list nil) + (fm-seq-idx 0)) + ;; loop of gene + (dolist (fm-seq fm-seq-list) + (incf fm-seq-idx) + (warning-message 2 " gene idx ~a/~a start. " fm-seq-idx (length fm-seq-list)) + (let* ((learning-eval-value) + (frame-idx 0) + (frame-sum *inf*)) + ;; loop of time + (reset-world) + (unix::usleep (* 10 1000)) + (dolist (fm fm-seq) + (incf frame-idx) + ;; add force and moment + (let* ((f (elt fm 0)) (m (elt fm 1)) + (x-int-max *inf*) (x-int-min -1) + (y-int-max 1) (y-int-min -1) + (z-int-max (+ obj-cog-height 1)) (z-int-min (max (- obj-cog-height 1) 0)) + (hori-angle-int-max 45) (hori-angle-int-min -45)) + (add-force f m) + (unix::usleep (* frame-dt 1000)) + (let* ((crnt-pose (get-pose)) + (crnt-pos (scale 0.001 (send crnt-pose :pos))) + (crnt-x (elt crnt-pos 0)) + (crnt-y (elt crnt-pos 1)) + (crnt-z (elt crnt-pos 2)) + (crnt-hori-angle (get-hori-angle crnt-pose))) + (unless (and (in-range crnt-x x-int-max x-int-min) + (in-range crnt-y y-int-max y-int-min) + (in-range crnt-z z-int-max z-int-min) + (in-range crnt-hori-angle hori-angle-int-max hori-angle-int-min)) + (setq frame-sum (* frame-idx (/ frame-dt 1000.0))) + (return) + )) + )) + ;;; end of loop of time + ;; calc evaluation value of object pose + (let* ((x-max *inf*) (x-min -0.5) + (y-max 0.5) (y-min -0.5) + (z-max (+ obj-cog-height 0.2)) (z-min (max (- obj-cog-height 0.2) 0)) + ;; (roll-max 30) (roll-min -30) + ;; (pitch-max 30) (pitch-min -30) + ;; (yaw-max 30) (yaw-min -30) + (hori-angle-max 20) (hori-angle-min -20) + (rpy-weight 0.05) + (x-dist-weight 50) + (frame-weight 10)) + (let* ((crnt-pose (get-pose)) + (crnt-pos (scale 0.001 (send crnt-pose :pos))) + (crnt-rpy (reverse (mapcar #'rad2deg (car (rpy-angle (send crnt-pose :rot)))))) + (crnt-x (elt crnt-pos 0)) + (crnt-y (elt crnt-pos 1)) + (crnt-z (elt crnt-pos 2)) + (crnt-roll (elt crnt-rpy 0)) + (crnt-pitch (elt crnt-rpy 1)) + (crnt-yaw (elt crnt-rpy 2)) + (crnt-hori-angle (get-hori-angle crnt-pose)) + (crnt-x-dist (- crnt-x (* obj-cog-height (sin (deg2rad crnt-pitch)))))) + (let* ((xyz-in-range-eval-value + (- (+ (range-square crnt-x x-max x-min) + (range-square crnt-y y-max y-min) + (range-square crnt-z z-max z-min)))) + (hori-angle-in-range-eval-value + (- (* rpy-weight + (range-square crnt-hori-angle hori-angle-max hori-angle-min)))) + (x-dist-eval-value + (* x-dist-weight (ss-square crnt-x-dist))) + (frame-eval-value + (* frame-weight (- (/ 1 frame-sum))))) + (setq learning-eval-value + (+ + xyz-in-range-eval-value + hori-angle-in-range-eval-value + x-dist-eval-value + frame-eval-value + )) + (warning-message 2 " value: ~a (xyz:~a hori:~a x-dist:~a frame:~a)~%" + learning-eval-value xyz-in-range-eval-value hori-angle-in-range-eval-value x-dist-eval-value frame-eval-value) + (push-back learning-eval-value learning-eval-list) + ))) + )) + ;;; end of loop of gene + (setq learning-eval-value-ave (/ (apply #'+ learning-eval-list) (length learning-eval-list))) + (warning-message 3 "eval ~a/~a (ave: ~a) : ~a~%" (+ i 1) learning-cnt learning-eval-value-ave learning-eval-list) + ;; linear scaleing of eval + (let* ((ls-a 1) + (ls-b (/ (- (apply #'max learning-eval-list) (* (apply #'min learning-eval-list) learning-elenum)) (- learning-elenum 1) )) + (ls-learning-eval-list (mapcar #'(lambda (x) (+ (* ls-a x) ls-b)) learning-eval-list)) + (ls-learning-eval-sum (apply #'+ ls-learning-eval-list))) + (setq select-ratio-list (mapcar #'(lambda (x) (/ x ls-learning-eval-sum)) ls-learning-eval-list)) + ;; (warning-message 3 "select-ratio-list: ~a~%" select-ratio-list) + ) + ;; genetic manipulation + (let* ((select-cum-ratio-list select-ratio-list) + (fm-seq-list-next nil) + (fm-seq-list-next-cnt 1)) + (dotimes (i (- (length select-ratio-list) 1)) + (setf (elt select-cum-ratio-list (+ i 1)) (+ (elt select-cum-ratio-list i) (elt select-cum-ratio-list (+ i 1)))) + ) + ;; (warning-message 3 "select-cum-ratio-list: ~a~%" select-cum-ratio-list) + (while (<= fm-seq-list-next-cnt learning-elenum) + (let* ((uni-cross-prob 0.2) + (two-cross-prob 0.2) + (mutation-prob 0.4)) + (cond + ((and (not (= fm-seq-list-next-cnt learning-elenum)) (< (random 1.0) two-cross-prob)) + ;; two point crossing + (setq fm-seq-list-next-cnt (+ fm-seq-list-next-cnt 2)) + (let* ((fm-seq1 (elt fm-seq-list (get-random-idx-from-cum-ratio-list select-cum-ratio-list))) + (fm-seq2 (elt fm-seq-list (get-random-idx-from-cum-ratio-list select-cum-ratio-list))) + (cross-idx1 (random-in-range 0 (- (length fm-seq1) 1))) + (cross-idx2 (random-in-range 0 (- (length fm-seq1) 1)))) + (push-back (append (subseq fm-seq1 0 (min cross-idx1 cross-idx2)) + (subseq fm-seq2 (min cross-idx1 cross-idx2) (max cross-idx1 cross-idx2)) + (subseq fm-seq1 (max cross-idx1 cross-idx2) (length fm-seq1))) fm-seq-list-next) + (push-back (append (subseq fm-seq2 0 (min cross-idx1 cross-idx2)) + (subseq fm-seq1 (min cross-idx1 cross-idx2) (max cross-idx1 cross-idx2)) + (subseq fm-seq2 (max cross-idx1 cross-idx2) (length fm-seq1))) fm-seq-list-next) + )) + ((and (not (= fm-seq-list-next-cnt learning-elenum)) (< (random 1.0) uni-cross-prob)) + ;; uniform crossing + (setq fm-seq-list-next-cnt (+ fm-seq-list-next-cnt 2)) + (let* ((fm-seq1 (elt fm-seq-list (get-random-idx-from-cum-ratio-list select-cum-ratio-list))) + (fm-seq2 (elt fm-seq-list (get-random-idx-from-cum-ratio-list select-cum-ratio-list))) + new-fm-seq1 new-fm-seq2) + (dotimes (i (length fm-seq1)) + (push-back (if (<= (random 1.0) 0.5) (elt fm-seq1 i) (elt fm-seq2 i)) new-fm-seq1) + (push-back (if (<= (random 1.0) 0.5) (elt fm-seq1 i) (elt fm-seq2 i)) new-fm-seq2) + ) + (push-back fm-seq1 fm-seq-list-next) + (push-back fm-seq2 fm-seq-list-next) + )) + (t + ;; copy + (incf fm-seq-list-next-cnt) + (let* ((new-fm-seq (elt fm-seq-list (get-random-idx-from-cum-ratio-list select-cum-ratio-list)))) + (when (< (random 1.0) mutation-prob) + ;; mutation + (let* ((rand-f (float-vector (random-in-range fx-max fx-min) (random-in-range fy-max fy-min) (random-in-range fz-max fz-min))) + (rand-m (float-vector (random-in-range mx-max mx-min) (random-in-range my-max my-min) (random-in-range mz-max mz-min))) + (rand-fm (list rand-f rand-m))) + (setf (elt new-fm-seq (random (length new-fm-seq))) rand-fm) + )) + (push-back new-fm-seq fm-seq-list-next))) + )) + ) + ;; set to next generation + (setq fm-seq-list fm-seq-list-next) + ) + (setq *fm-seq-list* fm-seq-list) + (setq *learning-eval-list* learning-eval-list) + )) + ;;; end of loop of learning cycle + )) + +(defun get-max-fm-seq () + (elt *fm-seq-list* (position (apply #'max *learning-eval-list*) *learning-eval-list*))) + +(defun apply-fm-seq (fm-seq) + (let* ((real-time-update-rate 5) + (frame-dt (/ 50 real-time-update-rate))) + (reset-world) + (unix::usleep (* 10 1000)) + (dolist (fm fm-seq) + ;; add force and moment + (let* ((f (elt fm 0)) (m (elt fm 1))) + (add-force f m) + (unix::usleep (* frame-dt 1000)) + )) + (reset-force))) + +(defun apply-max-fm-seq () + (apply-fm-seq (get-max-fm-seq))) + + +(defun add-fm-one-dir (dir-vec fm-max) + (reset-world) + (unix::usleep (* 10 1000)) + (let* ((fm-max-vec (scale fm-max dir-vec)) + (f (subseq fm-max-vec 0 3)) + (m (subseq fm-max-vec 3 6)) + before-pose after-pose diff-pose) + (setq before-pose (get-pose)) + (add-force f m) + (unix::usleep (* 500 1000)) + (setq after-pose (get-pose)) + (setq diff-pose (send before-pose :transformation after-pose)) + (warn "dir: ~a fm-max: ~a pos: ~a rot: ~a~%" dir-vec fm-max (send diff-pose :pos) (mapcar #'rad2deg (car (rpy-angle (send diff-pose :rot)))))) + (reset-world)) + +(defun save-fm-seq () + (dump-loadable-structure "tmp.l" *max-fm-seq* *learning-eval-list* *fm-seq-list*)) + + + + + + + + + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; init + +(defun init-manip-obj-search () + (init-gazebo-plugin) + (setq *robot* (setup-model-for-hrp2 :no-view t))) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; test + +(defun test-all-dir-dual (&optional (limb-list (list :larm :rarm)) (grasp-pos-list (list #f(500 0 0) #f(-500 0 0)))) + (let* ((limb-fm-max-all-dir-list + (mapcar #'(lambda (limb) (calc-limb-fm-max-all-dir limb)) limb-list))) + (dolist (dir-vec (gen-sgnd-dir-vec-list 6)) + (let* ((fm-max (get-fm-max-one-dir dir-vec limb-fm-max-all-dir-list grasp-pos-list))) + (add-fm-one-dir dir-vec fm-max))))) + +(defun test-all-dir-single (&optional (limb :rarm)) + (dolist (dir-vec (gen-sgnd-dir-vec-list 6)) + (let* ((fm-max (norm (get-limb-fm-max-one-dir dir-vec limb)))) + (add-fm-one-dir dir-vec fm-max)))) + +(defun test-all-dir-const () + (dolist (dir-vec (gen-sgnd-dir-vec-list 6)) + (let* ((fm-max 50)) + (add-fm-one-dir dir-vec fm-max)))) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; fm-max + +(defun get-fm-max-one-dir (dir-vec limb-fm-max-all-dir-list grasp-pos-list) + (let* (fm-max + (min-angle-dir-vec pi)) + (dolist (limb-fm-max-0 (elt limb-fm-max-all-dir-list 0)) + (dolist (limb-fm-max-1 (elt limb-fm-max-all-dir-list 1)) + (let* ((limb-fm-max-list + (list (cdr limb-fm-max-0) (cdr limb-fm-max-1))) + (limb-f-max-list (mapcar #'(lambda (fm) (subseq fm 0 3)) limb-fm-max-list)) + (limb-m-max-list (mapcar #'(lambda (fm) (subseq fm 3 6)) limb-fm-max-list)) + (f-max-vec + (apply #'v+ limb-f-max-list)) + (m-max-vec + (reduce #'v+ (append limb-m-max-list (mapcar #'(lambda (gpos lfm) (v* (scale 0.001 gpos) lfm)) grasp-pos-list limb-f-max-list)))) + (tmp-fm-max-vec (concatenate float-vector f-max-vec m-max-vec)) + (tmp-min-angle-dir-vec (abs (acos (v. dir-vec (normalize-vector tmp-fm-max-vec)))))) + (when (> min-angle-dir-vec tmp-min-angle-dir-vec) + (setq min-angle-dir-vec tmp-min-angle-dir-vec) + (setq fm-max (norm tmp-fm-max-vec)))))) + fm-max)) + + +(defun calc-limb-fm-max-all-dir (limb) + (let* (res) + (dolist (dir-vec (gen-sgnd-dir-vec-list 6)) + (push (cons dir-vec (get-limb-fm-max-one-dir dir-vec limb)) res)) + res)) + +(defun get-limb-fm-max-one-dir (dir-vec limb) + (let* ((robot *robot*) + (force-dir dir-vec) + (ext-force-res + (easy-calc-existable-ext-force + :force-dir force-dir + :move-target + (make-cascoords + :pos (send robot limb :end-coords :worldpos) + :rot (send robot limb :end-coords :worldrot) + :parent (send robot limb :end-coords :parent) + :limb-key limb)))) + (cdr (assoc :max ext-force-res)))) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; manip + +(defun add-fm-one-dir (dir-vec fm-max) + (reset-world) + (unix::usleep (* 10 1000)) + (let* ((fm-max-vec (scale fm-max dir-vec)) + (f (subseq fm-max-vec 0 3)) + (m (subseq fm-max-vec 3 6)) + before-pose after-pose diff-pose) + (setq before-pose (get-pose)) + (add-force f m) + (unix::usleep (* 500 1000)) + (setq after-pose (get-pose)) + (setq diff-pose (send before-pose :transformation after-pose)) + (warn "dir: ~a fm-max: ~a pos: ~a rot: ~a~%" dir-vec fm-max (send diff-pose :pos) (mapcar #'rad2deg (car (rpy-angle (send diff-pose :rot)))))) + (reset-world)) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; dir-vec + +(defun gen-dir-vec-list (idx) + (cdr (union (flatten (gen-dir-vec-list-rec (instantiate float-vector idx) 0)) nil :test #'equal))) + +(defun gen-sgnd-dir-vec-list (idx) + (cdr (union (flatten (gen-sgnd-dir-vec-list-rec (instantiate float-vector idx) 0)) nil :test #'equal))) + +(defun gen-dir-vec-list-rec (vec idx) + (when (> (length vec) idx) + (let ((vec0 (copy-seq vec)) + (vec1 (copy-seq vec))) + (setf (elt vec0 idx) 0) + (setf (elt vec1 idx) 1) + (list (normalize-vector vec0) (normalize-vector vec1) (gen-dir-vec-list-rec vec0 (1+ idx)) (gen-dir-vec-list-rec vec1 (1+ idx)))))) + +(defun gen-sgnd-dir-vec-list-rec (vec idx) + (when (> (length vec) idx) + (let ((vec0 (copy-seq vec)) + (vec1 (copy-seq vec)) + (vec2 (copy-seq vec))) + (setf (elt vec0 idx) 0) + (setf (elt vec1 idx) 1) + (setf (elt vec2 idx) -1) + (list (normalize-vector vec0) (normalize-vector vec1) (normalize-vector vec2) + (gen-sgnd-dir-vec-list-rec vec0 (1+ idx)) (gen-sgnd-dir-vec-list-rec vec1 (1+ idx)) (gen-sgnd-dir-vec-list-rec vec2 (1+ idx)))))) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; exe + +(init-manip-obj-search) diff --git a/hrpsys_gazebo_tutorials/euslisp/print-collision-link-pairs.l b/hrpsys_gazebo_tutorials/euslisp/print-collision-link-pairs.l new file mode 100644 index 00000000..f63f959c --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/print-collision-link-pairs.l @@ -0,0 +1,119 @@ +(load "package://hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-interface-ex.l") + + +(init :real nil) + +(let* (link-pair-list ;; list of link pair + ignore-link-pair-string ;; list of strings which include ignore link pair name + (link-name-list (send-all (send *robot* :links) :name))) + + ;; make link pair + (dolist (l1 link-name-list) + (dolist (l2 (cdr (member l1 link-name-list :test 'string=))) + (push (list l1 l2) link-pair-list) + )) + ;;(pprint link-pair-list);; + (warn "number of all link pairs is ~a~%" (length link-pair-list)) + + ;; make ignore link pair from moveit srdf file + (let* ((res-stream + (piped-fork "grep disable_collisions `rospack find hrp2jsknt_moveit_config`/config/HRP2JSKNT.srdf")) + res-string + res-tmp) + (while (setq res-tmp (read-line res-stream nil)) + (push res-tmp res-string)) + (warn "file lines ~a~%" (length res-string)) + (setq res-string + (remove-if-not #'(lambda (x) (substringp "disable_collisions" x)) res-string)) + (setq ignore-link-pair-string res-string) + ) + ;;(pprint ignore-link-pair-string);; + (warn "number of ignore link pairs is ~a~%" (length ignore-link-pair-string)) + + ;; make collision check link pair + (setq link-pair-list + (remove-if + #'(lambda (lp) + (position t + (mapcar #'(lambda (res-l) (and (substringp (format nil "~A" (elt lp 0)) res-l) + (substringp (format nil "~A" (elt lp 1)) res-l))) ignore-link-pair-string))) + link-pair-list)) + ;;(pprint link-pair-list);; + (warn "number of collision check link pairs is ~a~%" (length link-pair-list)) + + ;; remove pair which include specified link because collision check pair is too numerous + (setq link-pair-list + (remove-if + #'(lambda (lp) + (position t + (mapcar + #'(lambda (limb-name) + (or (string= limb-name (elt lp 0)) (string= limb-name (elt lp 1)))) + (list "CHEST_LINK0" "HEAD_LINK0" "HEAD_LINK1" "RARM_LINK0" "RARM_LINK1" "RARM_LINK2" "RARM_LINK4" "RARM_LINK5" "RARM_LINK7" "RLEG_LINK0" "RLEG_LINK1" "RLEG_LINK4" "RLEG_LINK5" "RLEG_LINK6" "LARM_LINK0" "LARM_LINK1" "LARM_LINK2" "LARM_LINK4" "LARM_LINK5" "LARM_LINK7" "LLEG_LINK0" "LLEG_LINK1" "LLEG_LINK4" "LLEG_LINK5" "LLEG_LINK6")))) + link-pair-list)) + (warn "number of collision check link pairs after removing heuristic pairs is ~a~%" (length link-pair-list)) + + ;; remove specified pair because collision check pair is too numerous + (setq link-pair-list + (remove-if + #'(lambda (lp) + (position t + (mapcar + #'(lambda (limb-name-list) + (or (and (string= (elt limb-name-list 0) (elt lp 0)) (string= (elt limb-name-list 1) (elt lp 1))) + (and (string= (elt limb-name-list 1) (elt lp 0)) (string= (elt limb-name-list 0) (elt lp 1))))) + (list (list "BODY" "RLEG_LINK2") (list "BODY" "LLEG_LINK2"))))) + link-pair-list)) + (warn "number of collision check link pairs after removing heuristic pairs is ~a~%" (length link-pair-list)) + + ;; remove pair which belongs to the same limb because collision check pair is too numerous + (setq link-pair-list + (remove-if + #'(lambda (lp) + (position t + (mapcar + #'(lambda (limb-name) + (cond ((string= limb-name "CHEST") + (or (and (substringp limb-name (elt lp 0)) (substringp limb-name (elt lp 1))) + (and (substringp limb-name (elt lp 0)) (substringp "BODY" (elt lp 1))) + (and (substringp "BODY" (elt lp 0)) (substringp limb-name (elt lp 1))))) + (t + (and (substringp limb-name (elt lp 0)) (substringp limb-name (elt lp 1)))))) + (list "LARM" "RARM" "LLEG" "RLEG" "HEAD" "CHEST")))) + link-pair-list)) + (warn "number of collision check link pairs after removing heuristic pairs is ~a~%" (length link-pair-list)) + + ;; remove pair which belongs to the other side leg and arm because collision check pair is too numerous + (setq link-pair-list + (remove-if + #'(lambda (lp) + (position t + (mapcar + #'(lambda (limb-name-list) + (or (and (substringp (elt limb-name-list 0) (elt lp 0)) (substringp (elt limb-name-list 1) (elt lp 1))) + (and (substringp (elt limb-name-list 1) (elt lp 0)) (substringp (elt limb-name-list 0) (elt lp 1))) + (and (substringp (elt limb-name-list 0) (elt lp 1)) (substringp (elt limb-name-list 1) (elt lp 0))) + (and (substringp (elt limb-name-list 1) (elt lp 1)) (substringp (elt limb-name-list 0) (elt lp 0))))) + (list (list "LARM" "RLEG") (list "RARM" "LLEG"))))) + link-pair-list)) + (warn "number of collision check link pairs after removing heuristic pairs is ~a~%" (length link-pair-list)) + + ;; convert to joint name from link name + (setq link-pair-list + (mapcar + #'(lambda (lp) + (mapcar + #'(lambda (l) + (cond ((string= l "BODY") "WAIST") + (t (send (send (send *robot* :link l) :joint) :name)))) + lp)) + link-pair-list)) + ;;(pprint link-pair-list);; + + ;; output + (format t "--conf-file-option \"collision_pair:") + (dolist (lp link-pair-list) + (format t " ~a:~a" (elt lp 0) (elt lp 1))) + (format t "\"~%") + ) + diff --git a/hrpsys_gazebo_tutorials/euslisp/spawn_gazebo_model.l b/hrpsys_gazebo_tutorials/euslisp/spawn_gazebo_model.l new file mode 100644 index 00000000..582f0676 --- /dev/null +++ b/hrpsys_gazebo_tutorials/euslisp/spawn_gazebo_model.l @@ -0,0 +1,25 @@ +(ros::roseus "spawn_robot_model") + +(load "package://hrpsys_gazebo_tutorials/euslisp/gazebo-msgs-util.l") + +(when (ros::has-param "~robot_name") + (setq *robot_name* (ros::get-param "~robot_name"))) + +(when (ros::has-param "~model_file") + (setq *model_file* (ros::get-param "~model_file"))) + +(setq *translate* (float-vector 0 0 0)) +(when (ros::has-param "~translate_x") + (setf (elt *translate* 0) (* 1000 (ros::get-param "~translate_x")))) +(when (ros::has-param "~translate_y") + (setf (elt *translate* 1) (* 1000 (ros::get-param "~translate_y")))) +(when (ros::has-param "~translate_z") + (setf (elt *translate* 2) (* 1000 (ros::get-param "~translate_z")))) + +(gazebo-spawn-model *robot_name* (read-xml-from-file *model_file*) + :initial-pose (make-coords :pos *translate*) + :wait t) + +;;(gazebo-unpose-physics) + +(exit 0) diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch new file mode 100644 index 00000000..55333648 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch new file mode 100644 index 00000000..8e86ff08 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch new file mode 100644 index 00000000..119e6074 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_l_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_l_no_controllers.launch new file mode 100644 index 00000000..c3fed97f --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_l_no_controllers.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_r_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_r_no_controllers.launch new file mode 100644 index 00000000..2ec0457d --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_r_no_controllers.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_launch_source.launch b/hrpsys_gazebo_tutorials/launch/gazebo_launch_source.launch new file mode 100644 index 00000000..97085092 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_launch_source.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers.launch new file mode 100644 index 00000000..bf0af94c --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_simplebox.launch b/hrpsys_gazebo_tutorials/launch/gazebo_simplebox.launch new file mode 100644 index 00000000..4ed13ed8 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_simplebox.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_staro_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_staro_no_controllers.launch new file mode 100644 index 00000000..22dd6bf4 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/gazebo_staro_no_controllers.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/hrp2jsk_hrpsys_bringup.launch b/hrpsys_gazebo_tutorials/launch/hrp2jsk_hrpsys_bringup.launch new file mode 100644 index 00000000..8e288cbe --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/hrp2jsk_hrpsys_bringup.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/hrp2jsknt_hrpsys_bringup.launch b/hrpsys_gazebo_tutorials/launch/hrp2jsknt_hrpsys_bringup.launch new file mode 100644 index 00000000..63d63403 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/hrp2jsknt_hrpsys_bringup.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/hrp2jsknts_hrpsys_bringup.launch b/hrpsys_gazebo_tutorials/launch/hrp2jsknts_hrpsys_bringup.launch new file mode 100644 index 00000000..4d3280c6 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/hrp2jsknts_hrpsys_bringup.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/hrp4c_hrpsys_bringup.launch b/hrpsys_gazebo_tutorials/launch/hrp4c_hrpsys_bringup.launch new file mode 100644 index 00000000..c37e52ee --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/hrp4c_hrpsys_bringup.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/pcl_rough.launch b/hrpsys_gazebo_tutorials/launch/pcl_rough.launch new file mode 100644 index 00000000..0c61d008 --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/pcl_rough.launch @@ -0,0 +1,21 @@ + + + + + + + filter_field_name: "z" + filter_limit_min: -5.00 + filter_limit_max: 2.00 + filter_limit_negative: false + input_frame: "/odom" + output_frame: "/odom" + leaf_size: 0.2 + + + + diff --git a/hrpsys_gazebo_tutorials/launch/samplerobot_hrpsys_bringup.launch b/hrpsys_gazebo_tutorials/launch/samplerobot_hrpsys_bringup.launch new file mode 100644 index 00000000..ee90df2b --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/samplerobot_hrpsys_bringup.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/launch/staro_hrpsys_bringup.launch b/hrpsys_gazebo_tutorials/launch/staro_hrpsys_bringup.launch new file mode 100644 index 00000000..bdc8cc6c --- /dev/null +++ b/hrpsys_gazebo_tutorials/launch/staro_hrpsys_bringup.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/manifest.xml b/hrpsys_gazebo_tutorials/manifest.xml new file mode 100644 index 00000000..070640f9 --- /dev/null +++ b/hrpsys_gazebo_tutorials/manifest.xml @@ -0,0 +1,20 @@ + + + + hrpsys_gazebo_tutorials + + + Yohei Kakiuchi + BSD + + + http://ros.org/wiki/hrpsys_gazebo_tutorials + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/package.xml b/hrpsys_gazebo_tutorials/package.xml new file mode 100644 index 00000000..ad4eeb8e --- /dev/null +++ b/hrpsys_gazebo_tutorials/package.xml @@ -0,0 +1,26 @@ + + hrpsys_gazebo_tutorials + 0.1.3 + hrpsys_gazebo_tutorials + Yohei Kakiuchi + BSD + Yohei Kakiuchi + catkin + + hrpsys_ros_bridge_tutorials + hrpsys_ros_bridge + hrpsys_gazebo_general + collada_urdf_jsk_patch + openhrp3 + hrpsys + euscollada + + openhrp3 + hrpsys + euscollada + hrpsys_ros_bridge + hrpsys_ros_bridge_tutorials + hrpsys_gazebo_general + collada_urdf_jsk_patch + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro new file mode 100644 index 00000000..095c2ee5 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro @@ -0,0 +1,47 @@ + + + + + + HRP2JSK + hrpsys_gazebo_configuration + + + + + + 1 + 1000.0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + 1 + + + 1 + + + 1 + + + 1 + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh new file mode 100755 index 00000000..a9751bd1 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 +## change foot parameters +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1000000.0\n 100.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1000000.0\n 100.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +## change foot geometry mesh -> box +sed -i -e '//{N;N;N;s@\n \n \n @\n \n \n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;s@\n \n \n @\n \n \n @;}' ${OUTPUT_FILE} +# continuous joint not working in GAZEBO +sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE} +# overwrite velocity limit because collada2urdf doesn't reflect the velocity limit of collada model. +sed -i -e 's@velocity="0.5"@velocity="10.0"@g' ${OUTPUT_FILE} diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro new file mode 100644 index 00000000..5a16d8d5 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro @@ -0,0 +1,143 @@ + + + + + + + + HRP2JSKNT + hrpsys_gazebo_configuration + + + + + + 1 + 1000.0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + 1 + + + 1 + + + 1 + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + 1.09606677025 + + R8G8B8 + 640 + 480 + + + 0.5 + 9 + + + + true + 20 + xtion/rgb/image_raw + xtion/rgb/camera_info + xtion/depth/image_raw + xtion/depth/camera_info + xtion/depth/points + xtion_depth_optical_frame + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh new file mode 100755 index 00000000..82874e25 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh @@ -0,0 +1,31 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 +# continuous joint not working in GAZEBO +sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE} +# overwrite mass and inertia which have invalid settings. +sed -i -e 's@@@g' ${OUTPUT_FILE} +sed -i -e 's@@@g' ${OUTPUT_FILE} +## change foot parameters +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +# remove LARM_LINK6 +L_START=`grep -n "" -m 1 | cut -f1 -d:) ## +L_END=`expr ${L_START} + ${L_END} - 1` +sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE} +# remove RARM_LINK6 +L_START=`grep -n "" -m 1 | cut -f1 -d:) ## +L_END=`expr ${L_START} + ${L_END} - 1` +sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE} +# overwrite velocity limit because collada2urdf doesn't reflect the velocity limit of collada model. +sed -i -e 's@velocity="0.5"@velocity="1000.0"@g' ${OUTPUT_FILE} +sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE} diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro new file mode 100644 index 00000000..a308733b --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro @@ -0,0 +1,143 @@ + + + + + + + + HRP2JSKNTS + hrpsys_gazebo_configuration + + + + + + 1 + 1000.0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + 1 + + + 1 + + + 1 + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + 1.09606677025 + + R8G8B8 + 640 + 480 + + + 0.5 + 9 + + + + true + 20 + xtion/rgb/image_raw + xtion/rgb/camera_info + xtion/depth/image_raw + xtion/depth/camera_info + xtion/depth/points + xtion_depth_optical_frame + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh new file mode 100755 index 00000000..82874e25 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh @@ -0,0 +1,31 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 +# continuous joint not working in GAZEBO +sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE} +# overwrite mass and inertia which have invalid settings. +sed -i -e 's@@@g' ${OUTPUT_FILE} +sed -i -e 's@@@g' ${OUTPUT_FILE} +## change foot parameters +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1400000.0\n 280.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +# remove LARM_LINK6 +L_START=`grep -n "" -m 1 | cut -f1 -d:) ## +L_END=`expr ${L_START} + ${L_END} - 1` +sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE} +# remove RARM_LINK6 +L_START=`grep -n "" -m 1 | cut -f1 -d:) ## +L_END=`expr ${L_START} + ${L_END} - 1` +sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE} +# overwrite velocity limit because collada2urdf doesn't reflect the velocity limit of collada model. +sed -i -e 's@velocity="0.5"@velocity="1000.0"@g' ${OUTPUT_FILE} +sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE} diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro new file mode 100644 index 00000000..ae3af8b4 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + HRP3HAND_L + hrpsys_gazebo_configuration + + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh new file mode 100755 index 00000000..1458e45f --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh @@ -0,0 +1,24 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 +# continuous joint not working in GAZEBO +sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE} +# overwrite inertia because original value is too small +for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:` +do + sed -i "${l}c\ " ${OUTPUT_FILE} +done +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro new file mode 100644 index 00000000..43e6be28 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + HRP3HAND_R + hrpsys_gazebo_configuration + + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh new file mode 100755 index 00000000..1458e45f --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh @@ -0,0 +1,24 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 +# continuous joint not working in GAZEBO +sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE} +# overwrite inertia because original value is too small +for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:` +do + sed -i "${l}c\ " ${OUTPUT_FILE} +done +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 140.0\n 2800.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.patch b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.patch new file mode 100644 index 00000000..f2798a69 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.patch @@ -0,0 +1,128 @@ +--- HRP4C.urdf 2013-11-20 10:33:32.408793666 +0900 ++++ HRP4C.dev.urdf 2013-11-20 02:08:16.047412199 +0900 +@@ -442,7 +442,7 @@ + + + +- ++ + + + +@@ -465,7 +465,7 @@ + + + +- ++ + + + +@@ -1145,7 +1145,7 @@ + + 0.4 + +- ++ + + + +@@ -1161,7 +1161,7 @@ + + 0.4 + +- ++ + + + +@@ -1225,7 +1225,7 @@ + + 0.4 + +- ++ + + + +@@ -1241,7 +1241,7 @@ + + 0.4 + +- ++ + + + +@@ -1257,7 +1257,7 @@ + + 0.4 + +- ++ + + + +@@ -1273,7 +1273,7 @@ + + 0.4 + +- ++ + + + +@@ -1289,7 +1289,7 @@ + + 0.4 + +- ++ + + + +@@ -1305,7 +1305,7 @@ + + 0.4 + +- ++ + + + +@@ -1321,7 +1321,7 @@ + + 0.4 + +- ++ + + + +@@ -1337,7 +1337,7 @@ + + 0.4 + +- ++ + + + +@@ -1449,7 +1449,7 @@ + + 0.4 + +- ++ + + + +@@ -1465,7 +1465,7 @@ + + 0.4 + +- ++ + + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.xacro new file mode 100644 index 00000000..64ec4d94 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + HRP4C + hrpsys_gazebo_configuration + + + diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh new file mode 100755 index 00000000..23e67261 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 diff --git a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro new file mode 100644 index 00000000..3923db22 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro @@ -0,0 +1,34 @@ + + + + + + STARO + hrpsys_gazebo_configuration + + + + + + 1 + 1000.0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + diff --git a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_additional_urdf_setting.sh new file mode 100755 index 00000000..0f5d2f41 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_additional_urdf_setting.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 +## change foot parameters +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1000000.0\n 100.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1000000.0\n 100.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +# continuous joint not working in GAZEBO +sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE} +sed -i -e 's@@@g' ${OUTPUT_FILE} diff --git a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro new file mode 100644 index 00000000..4cfad3c2 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro @@ -0,0 +1,47 @@ + + + + + + SampleRobot + hrpsys_gazebo_configuration + + + + + + 1 + 1000.0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + 1 + + + 1 + + + 1 + + + 1 + + diff --git a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh new file mode 100755 index 00000000..6c358561 --- /dev/null +++ b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh @@ -0,0 +1,17 @@ +#!/bin/bash + +function error { + exit 1 +} +trap error ERR + +OUTPUT_FILE=$1 +## change foot parameters +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1000000.0\n 100.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +sed -i -e '//{N;N;N;N;s@ \n 0.9\n 0.9\n @ \n 1000000.0\n 100.0\n 1.5\n 1.5\n 1 0 0\n 10.0\n 0.00\n @;}' ${OUTPUT_FILE} +# continuous joint not working in GAZEBO +sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE} +## change max effort +sed -i -e 's@effort="100"@effort="200"@g' ${OUTPUT_FILE} +## change max velocity +sed -i -e 's@velocity="0.5"@velocity="6.0"@g' ${OUTPUT_FILE} diff --git a/hrpsys_gazebo_tutorials/rospack_nosubdirs b/hrpsys_gazebo_tutorials/rospack_nosubdirs new file mode 100644 index 00000000..e69de29b diff --git a/hrpsys_gazebo_tutorials/scripts/change_prismatic_joint_fixed.py b/hrpsys_gazebo_tutorials/scripts/change_prismatic_joint_fixed.py new file mode 100755 index 00000000..075398bd --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/change_prismatic_joint_fixed.py @@ -0,0 +1,19 @@ +#! /usr/bin/env python +# prismatic joint is not simulated in gazebo 1.5 + +import os +import commands + + +def change_prismatic_joint_fixed (): + print "Change prismatic joint to fixed joint included in static model" + package_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + model_dir_path = package_dir_path + '/environment_models/' + + os.system("ls " + model_dir_path + '*static/model.urdf | xargs sed -i -e "s/prismatic/fixed/g"') + print "Done" + +if __name__ == '__main__': + change_prismatic_joint_fixed() + + diff --git a/hrpsys_gazebo_tutorials/scripts/eus2urdf_for_gazebo_pyscript.py b/hrpsys_gazebo_tutorials/scripts/eus2urdf_for_gazebo_pyscript.py new file mode 100755 index 00000000..489f96ab --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/eus2urdf_for_gazebo_pyscript.py @@ -0,0 +1,48 @@ +#! /usr/bin/env python + +import sys +import os +import commands + + +def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True): + + urdf_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + name + if overwrite: + os.system("rm -rf %s" % urdf_dir_path) + else: + print "[eus2urdf] check if the same name model already exits" + if os.path.exists(urdf_dir_path): + print '[ERROR eus2urdf] the same name model already exits' + exit(1) + + print "[eus2urdf] make directory for urdf" + os.mkdir(urdf_dir_path) + + add_line_string = '\file://%s\' % name + manifest_path = '%s/../manifest.xml' % urdf_dir_path + if len(commands.getoutput("grep %s %s" % (add_line_string, manifest_path))) == 0: + print "[eus2urdf] add file path to manifest.xml" + os.system('sed -i -e \"s@ @ %s\\n @g\" %s' % (add_line_string, manifest_path)) + + print "[eus2urdf] make model.config in urdf directory" + config_path = '%s/model.config' % urdf_dir_path + os.system('echo "\n\n %s\n 0.1.0\n model.urdf\n \n This model was automatically generated by converting the eus model.\n \n\n" > %s' % (name, config_path)) + + print "[eus2urdf] convert collada to urdf" + meshes_path = urdf_dir_path + '/meshes' + urdf_path = urdf_dir_path + '/' + 'model.urdf' + os.mkdir(meshes_path) + os.system('rosrun collada_urdf_jsk_patch collada_to_urdf %s -G -A --mesh_output_dir %s --mesh_prefix "model://%s/meshes" -O %s' % (collada_path, meshes_path, name, urdf_path)) + os.system('sed -i -e "s@continuous@revolute@g" %s' % urdf_path) + os.system('sed -i -e \"s@\\n false<\/static>\\n <\/gazebo>\\n @ @g\" %s' % urdf_path) + # os.system('sed -i -e \"s@ @ \\n \\n \\n \\n \\n @g\" %s' % urdf_path) + + +if __name__ == '__main__': + if len(sys.argv) > 2: + eus2urdf_for_gazebo_pyscript(sys.argv[1], sys.argv[2]) diff --git a/hrpsys_gazebo_tutorials/scripts/generate_model_database.py b/hrpsys_gazebo_tutorials/scripts/generate_model_database.py new file mode 100755 index 00000000..0971898e --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/generate_model_database.py @@ -0,0 +1,25 @@ +#! /usr/bin/env python + +import os +import commands + + +def generate_model_database (): + + manifest_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + manifest_path = manifest_dir_path + 'manifest.xml' + f = open(manifest_path, 'w') + + f.write("\n\n\n hrpsys_gazebo\n Creative Commons Attribution 3.0 Unported\n\n \n") + + model_name_list = commands.getoutput("ls -F -1 %s | grep / | sed \"s@/@@g\"" % manifest_dir_path).splitlines() + for model_name in model_name_list: + f.write(" file://%s\n" % model_name) + + f.write(" \n\n") + + f.close() + + +if __name__ == '__main__': + generate_model_database() diff --git a/hrpsys_gazebo_tutorials/scripts/generate_room_world.py b/hrpsys_gazebo_tutorials/scripts/generate_room_world.py new file mode 100755 index 00000000..afad13b3 --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/generate_room_world.py @@ -0,0 +1,19 @@ +#! /usr/bin/env python + +import sys +import os +import commands + + +def generate_room_world (name): + + # make models and world file + eus_script_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/euslisp/hrpsys-gazebo-utils.l' + os.system('rosrun roseus roseus %s "(progn (generate-room-models \\"%s\\") (exit))"' % (eus_script_path, name)) + + +if __name__ == '__main__': + if len(sys.argv) > 1: + generate_room_world(sys.argv[1]) + else: + print "usage: %s room-name" % sys.argv[0] diff --git a/hrpsys_gazebo_tutorials/scripts/make_fixed_model.py b/hrpsys_gazebo_tutorials/scripts/make_fixed_model.py new file mode 100755 index 00000000..8145511f --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/make_fixed_model.py @@ -0,0 +1,32 @@ +#! /usr/bin/env python + +import sys +import os +import commands + + +def make_fixed_model (name, overwrite=True): + + urdf_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + name + fixed_urdf_dir_path = urdf_dir_path + '_fixed' + urdf_path = urdf_dir_path + '/' + 'model.urdf' + fixed_urdf_path = fixed_urdf_dir_path + '/' + 'model.urdf' + + if overwrite: + os.system("rm -rf %s" % fixed_urdf_dir_path) + else: + if os.path.exists(fixed_urdf_dir_path): + print '[ERROR] the same name fixed model already exits' + exit(1) + + os.system("cp -r %s %s" % (urdf_dir_path, fixed_urdf_dir_path)) + + root_link_name = commands.getoutput('grep "link name=".*">" %s | head -n 1 | sed -e "s/ /\\1/"' % fixed_urdf_path) + os.system('sed -i -e \"s@@ \\n \\n \\n \\n \\n \\n@g\" %s' % (root_link_name, fixed_urdf_path)) + + os.system('sed -i -e "s@ 1: + make_fixed_model(sys.argv[1]) diff --git a/hrpsys_gazebo_tutorials/scripts/make_static_model.py b/hrpsys_gazebo_tutorials/scripts/make_static_model.py new file mode 100755 index 00000000..5ab2fcd1 --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/make_static_model.py @@ -0,0 +1,35 @@ +#! /usr/bin/env python + +import sys +import os +import commands + + +def make_static_model (name, overwrite=True): + + urdf_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + name + static_urdf_dir_path = urdf_dir_path + '_static' + urdf_path = urdf_dir_path + '/' + 'model.urdf' + static_urdf_path = static_urdf_dir_path + '/' + 'model.urdf' + + if overwrite: + os.system("rm -rf %s" % static_urdf_dir_path) + else: + if os.path.exists(static_urdf_dir_path): + print '[ERROR] the same name static model already exits' + exit(1) + + os.system("cp -r %s %s" % (urdf_dir_path, static_urdf_dir_path)) + + if len(commands.getoutput("grep \"false\" %s" % static_urdf_path)) != 0: + os.system('sed -i -e \"s@false@true@g\" %s' % static_urdf_path) + elif len(commands.getoutput("grep \"true\" %s" % static_urdf_path)) == 0: + os.system('sed -i -e \"s@ \\n true\\n \\n @ \\n true\\n \\n@g\" %s' % static_urdf_path) + + os.system('sed -i -e "s@ 1: + make_static_model(sys.argv[1]) diff --git a/hrpsys_gazebo_tutorials/scripts/remove_all_added_models.py b/hrpsys_gazebo_tutorials/scripts/remove_all_added_models.py new file mode 100644 index 00000000..98371475 --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/remove_all_added_models.py @@ -0,0 +1,18 @@ +#! /usr/bin/env python + +import os +import commands + + +def remove_all_added_models (): + + manifest_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + manifest_path = manifest_dir_path + 'manifest.xml' + + os.system("rm -rf $(svn st %s | grep ? | cut -f2- -d\" \")" % manifest_dir_path) + os.system("svn revert %s" % manifest_path) + +if __name__ == '__main__': + remove_all_added_models() + + diff --git a/hrpsys_gazebo_tutorials/scripts/remove_all_generated_files.py b/hrpsys_gazebo_tutorials/scripts/remove_all_generated_files.py new file mode 100755 index 00000000..b49044ed --- /dev/null +++ b/hrpsys_gazebo_tutorials/scripts/remove_all_generated_files.py @@ -0,0 +1,21 @@ +#! /usr/bin/env python + +import os +import commands + + +def remove_all_generated_files (): + + package_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + world_dir_path = package_dir_path + '/worlds/' + launch_dir_path = package_dir_path + '/launch/' + + os.system("rm -rf $(svn st %s | grep ? | cut -f2- -d\" \")" % world_dir_path) + os.system("rm -rf $(svn st %s | grep ? | cut -f2- -d\" \")" % launch_dir_path) + + os.system("rosrun hrpsys_gazebo_tutorials remove_all_added_models.py") + +if __name__ == '__main__': + remove_all_generated_files() + + diff --git a/hrpsys_gazebo_tutorials/setup.sh b/hrpsys_gazebo_tutorials/setup.sh new file mode 100644 index 00000000..e3716714 --- /dev/null +++ b/hrpsys_gazebo_tutorials/setup.sh @@ -0,0 +1,35 @@ +#!/bin/sh + +# DRCSIM_SETUP_SH=/usr/share/drcsim/setup.sh +DRCSIM_SETUP_SH=/usr/share/gazebo/setup.sh + +if [ ! -e $DRCSIM_SETUP_SH ]; then + echo -e "\e[31mdrcsim should be installed for using hrpsys_gazebo\e[m" + echo -e "\e[31msee http://gazebosim.org/wiki/DRC/Install\e[m" + return +fi + +ROS_PACKAGE_PATH_ORG=$ROS_PACKAGE_PATH + +unset GAZEBO_MODEL_PATH +unset GAZEBO_RESOURCE_PATH +unset GAZEBO_MASTER_URI +unset GAZEBO_PLUGIN_PATH +unset GAZEBO_MODEL_DATABASE_URI + +source $DRCSIM_SETUP_SH +source `rospack find hrpsys_gazebo_general`/setup.sh + +## append original package path because /opt/ros/groovy/setup.sh have been called in drcsim/setup.sh +export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH_ORG:$ROS_PACKAGE_PATH +## sort package path +export ROS_PACKAGE_PATH=`echo $(echo $ROS_PACKAGE_PATH | sed -e "s/:/\n/g" | awk '!($0 in A) && A[$0] = 1' | grep -v "opt/ros"; echo $ROS_PACKAGE_PATH | sed -e "s/:/\n/g" | awk '!($0 in A) && A[$0] = 1' | grep "opt/ros") | sed -e "s/ /:/g"` + +## +tpkgdir=`rospack find hrpsys_gazebo_tutorials` + +if [ -e ${tpkgdir} ]; then + export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH + export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${tpkgdir}/robot_models:${tpkgdir}/environment_models:${tpkgdir}/.. +fi + diff --git a/hrpsys_gazebo_tutorials/worlds/SimpleBox.world b/hrpsys_gazebo_tutorials/worlds/SimpleBox.world new file mode 100644 index 00000000..124e65a4 --- /dev/null +++ b/hrpsys_gazebo_tutorials/worlds/SimpleBox.world @@ -0,0 +1,40 @@ + + + + + 0 0 -9.81 + + + quick + 50 + 1.4 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + + model://sun + + + + model://ground_plane + + + + model://simple_box + 0 0 0.73 0 0 0 + + + model://3d-coord-arrow + 1 0 0.73 0 0 0 + + + diff --git a/hrpsys_gazebo_tutorials/worlds/drcbox.world b/hrpsys_gazebo_tutorials/worlds/drcbox.world new file mode 100644 index 00000000..80b97f2e --- /dev/null +++ b/hrpsys_gazebo_tutorials/worlds/drcbox.world @@ -0,0 +1,42 @@ + + + + + + + 0 0 -9.81 + + + quick + 50 + 1.4 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + + model://sun + + + + model://ground_plane + + + + model://drcbox + -2.0 0.0 0.0 0.0 0.0 0.0 + + + model://dewalt_dc550ka + -0.962 -0.397 1.0 0.0 0.0 0.0 + + + diff --git a/hrpsys_gazebo_tutorials/worlds/table_basket.world b/hrpsys_gazebo_tutorials/worlds/table_basket.world new file mode 100644 index 00000000..cbad3890 --- /dev/null +++ b/hrpsys_gazebo_tutorials/worlds/table_basket.world @@ -0,0 +1,42 @@ + + + + + + + 0 0 -9.81 + + + quick + 50 + 1.4 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + + model://sun + + + + model://ground_plane + + + + model://basket + 0.8 0.0 1.0 0.0 0.0 0.0 + + + model://vrc_table + 1.0 0.0 -0.3 0.0 0.0 1.5708 + + +