From 4bb4d90516f925672f026ad140ab75b9f91acd5d Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 29 Jul 2013 17:10:33 +0000
Subject: [PATCH 001/306] re-organize rtmros_common, add openrtm_common,
 rtmros_tutorials, rtmros_hironx, rtmros_gazebo, openrtm_apps, See Issue 137

---
 README                                        | 29 ++++++
 config/hrp2jsk.yaml                           | 86 ++++++++++++++++++
 config/hrp2jsknts.yaml                        | 90 +++++++++++++++++++
 config/sample_robot.yaml                      | 80 +++++++++++++++++
 launch/gazebo_hrp2jsk_no_controllers.launch   | 11 +++
 .../gazebo_hrp2jsknts_no_controllers.launch   | 11 +++
 launch/gazebo_robot_no_controllers.launch     | 24 +++++
 launch/hrp2jsk_hrpsys_bringup.launch          | 47 ++++++++++
 launch/hrp2jsknts_hrpsys_bringup.launch       | 47 ++++++++++
 launch/robot_hrpsys_bringup.launch            | 47 ++++++++++
 manifest.xml                                  | 20 +++++
 models/HRP2JSK/install_robot.sh               | 18 ++++
 models/HRP2JSK/manifest.xml                   | 13 +++
 models/HRP2JSKNTS/install_robot.sh            | 18 ++++
 models/HRP2JSKNTS/manifest.xml                | 13 +++
 models/SampleRobot/install_robot.sh           | 17 ++++
 models/SampleRobot/manifest.xml               | 13 +++
 models/manifest.xml                           | 11 +++
 rospack_nosubdirs                             |  0
 setup.sh                                      | 10 +++
 worlds/HRP2JSK.world                          | 35 ++++++++
 worlds/HRP2JSKNTS.world                       | 35 ++++++++
 worlds/SampleRobot.world                      | 35 ++++++++
 23 files changed, 710 insertions(+)
 create mode 100644 README
 create mode 100644 config/hrp2jsk.yaml
 create mode 100644 config/hrp2jsknts.yaml
 create mode 100644 config/sample_robot.yaml
 create mode 100644 launch/gazebo_hrp2jsk_no_controllers.launch
 create mode 100644 launch/gazebo_hrp2jsknts_no_controllers.launch
 create mode 100644 launch/gazebo_robot_no_controllers.launch
 create mode 100644 launch/hrp2jsk_hrpsys_bringup.launch
 create mode 100644 launch/hrp2jsknts_hrpsys_bringup.launch
 create mode 100644 launch/robot_hrpsys_bringup.launch
 create mode 100644 manifest.xml
 create mode 100755 models/HRP2JSK/install_robot.sh
 create mode 100644 models/HRP2JSK/manifest.xml
 create mode 100755 models/HRP2JSKNTS/install_robot.sh
 create mode 100644 models/HRP2JSKNTS/manifest.xml
 create mode 100755 models/SampleRobot/install_robot.sh
 create mode 100644 models/SampleRobot/manifest.xml
 create mode 100644 models/manifest.xml
 create mode 100644 rospack_nosubdirs
 create mode 100644 setup.sh
 create mode 100644 worlds/HRP2JSK.world
 create mode 100644 worlds/HRP2JSKNTS.world
 create mode 100644 worlds/SampleRobot.world

diff --git a/README b/README
new file mode 100644
index 00000000..550cfcd0
--- /dev/null
+++ b/README
@@ -0,0 +1,29 @@
+## at first
+$ cd models/SampleRobot
+$ ./install_robot.sh
+
+## setup gazebo directories
+$ source $(rospack find hrpsys_gazebo_general)/setup.sh
+
+### additional information (memo) ###
+
+## Generating Robot Model and World (
+$ roscd hrpsys_gazebo_tutorials
+$ mkdir -p models/SampleRobot/meshes; cd models/SampleRobot
+$ rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://SampleRobot/meshes'
+# add to urdf
+<<EOF
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
+      <robotname>SampleRobot</robotname>
+      <controller>sample_robot_configuration</controller>
+    </plugin>
+  </gazebo>
+EOF
+$ touch manifext.xml
+## write worlds
+$ mkdir hrpsys; cd hrpsys
+$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.conf .
+$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.RobotHardware.conf .
+$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae .
+$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot_nosim.xml .
diff --git a/config/hrp2jsk.yaml b/config/hrp2jsk.yaml
new file mode 100644
index 00000000..d67c2e3f
--- /dev/null
+++ b/config/hrp2jsk.yaml
@@ -0,0 +1,86 @@
+hrpsys_gazebo_configuration:
+  robotname: HRP2JSK
+##
+  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
+## jointid:
+  gains:
+    CHEST_JOINT0: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    CHEST_JOINT1: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT0: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT1: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT0: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT1: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT2: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT3: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT4: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT5: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT6: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT7: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT0: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT1: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT2: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT3: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT4: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT5: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT6: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT7: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT0: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT1: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT2: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT3: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT4: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT5: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT0: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT1: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT2: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT3: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT4: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT5: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+##
+  force_torque_sensors:
+    - lfsensor
+    - rfsensor 
+    - lhsensor
+    - rhsensor 
+  force_torque_sensors_config:
+    lfsensor: {joint_name: 'LLEG_JOINT6', frame_id: 'LLEG_LINK6'}
+    rfsensor: {joint_name: 'RLEG_JOINT6', frame_id: 'RLEG_LINK6'}
+    lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6'}
+    rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6'}
+##
+  imu_sensors:
+    - imu_sensor0
+  imu_sensors:
+    imu_sensor0: {name: 'waist_imu', link_name: 'CHEST_LINK0', frame_id: 'WAIST_LINK0'}
diff --git a/config/hrp2jsknts.yaml b/config/hrp2jsknts.yaml
new file mode 100644
index 00000000..1974ac18
--- /dev/null
+++ b/config/hrp2jsknts.yaml
@@ -0,0 +1,90 @@
+hrpsys_gazebo_configuration:
+  robotname: HRP2JSKNTS
+##
+  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}
+    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+##
+  force_torque_sensors:
+    - lfsensor
+    - rfsensor 
+    - lhsensor
+    - rhsensor 
+  force_torque_sensors_config:
+    lfsensor: {joint_name: 'LLEG_JOINT6', frame_id: 'LLEG_LINK6'}
+    rfsensor: {joint_name: 'RLEG_JOINT6', frame_id: 'RLEG_LINK6'}
+    lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6'}
+    rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6'}
+##
+  imu_sensors:
+    - imu_sensor0
+  imu_sensors:
+    imu_sensor0: {name: 'waist_imu', link_name: 'CHEST_LINK0', frame_id: 'WAIST_LINK0'}
diff --git a/config/sample_robot.yaml b/config/sample_robot.yaml
new file mode 100644
index 00000000..6be39ae9
--- /dev/null
+++ b/config/sample_robot.yaml
@@ -0,0 +1,80 @@
+hrpsys_gazebo_configuration:
+  robotname: SampleRobot
+##
+  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
+## jointid:
+  gains:
+    LLEG_HIP_R:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_P:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_Y:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LLEG_KNEE:       {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LLEG_ANKLE_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LLEG_ANKLE_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_R:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_P:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_Y:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RLEG_KNEE:       {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RLEG_ANKLE_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RLEG_ANKLE_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    WAIST_P:         {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    WAIST_R:         {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    CHEST:           {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_P: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_R: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_Y: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_ELBOW:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_Y:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_P: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_R: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_Y: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_ELBOW:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_Y:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+##
+  force_torque_sensors:
+    - lfsensor
+    - rfsensor 
+    - lhsensor
+    - rhsensor 
+  force_torque_sensors_config:
+    lfsensor: {joint_name: 'LLEG_ANKLE_R', frame_id: 'LLEG_LINK6'}
+    rfsensor: {joint_name: 'RLEG_ANKLE_R', frame_id: 'RLEG_LINK6'}
+    lhsensor: {joint_name: 'LARM_WRIST_P', frame_id: 'LARM_LINK6'}
+    rhsensor: {joint_name: 'RARM_WRIST_P', frame_id: 'RARM_LINK6'}
+##
+  imu_sensors:
+    - imu_sensor0
+  imu_sensors:
+    imu_sensor0: {name: 'waist_imu', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'}
diff --git a/launch/gazebo_hrp2jsk_no_controllers.launch b/launch/gazebo_hrp2jsk_no_controllers.launch
new file mode 100644
index 00000000..f7dc920f
--- /dev/null
+++ b/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="HRP2JSK.world"/>
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+  </include>
+</launch>
diff --git a/launch/gazebo_hrp2jsknts_no_controllers.launch b/launch/gazebo_hrp2jsknts_no_controllers.launch
new file mode 100644
index 00000000..d6b7ad75
--- /dev/null
+++ b/launch/gazebo_hrp2jsknts_no_controllers.launch
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="HRP2JSKNTS.world"/>
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsknts.yaml" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+  </include>
+</launch>
diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
new file mode 100644
index 00000000..ada87dec
--- /dev/null
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -0,0 +1,24 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="SampleRobot.world"/>
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/sample_robot.yaml" />
+
+  <arg name="PAUSED" default="false"/>
+  <arg name="ROBOT_MODEL" default="" />
+
+  <arg if="$(arg PAUSED)"
+       name="paused" value="_paused" />
+  <arg unless="$(arg PAUSED)"
+       name="paused" value="" />
+
+  <param name="/use_sim_time" type="bool" value="true"/>
+
+  <!-- start gazebo with the hrpsys_gazebo -->
+  <node name="gazebo" pkg="atlas_utils" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
+
+  <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
+  <!-- Robot Description -->
+  <!--
+  <param name="robot_description" textfile="$(arg ROBOT_MODEL)"/>
+  -->
+</launch>
diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
new file mode 100644
index 00000000..66353c77
--- /dev/null
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -0,0 +1,47 @@
+<launch>
+  <arg name="KILL_SERVERS" default="false" />
+  <arg name="ROBOT_NAME" default="HRP2JSK" />
+  <arg name="SIMULATOR_NAME" default="RobotHardware0" />
+  <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
+
+  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/models/$(arg ROBOT_NAME)" />
+  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
+
+  <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
+
+  <include file="$(find hrpsys)/launch/hrpsys.launch" >
+    <arg name="USE_RTCD" value="true" />
+    <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
+    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).RobotHardware.conf'/>
+    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME)_nosim.xml" />
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
+    <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
+  </include>
+
+  <!-- hrpsys_ros_bridge -->
+  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
+    <!-- settings -->
+    <arg name="USE_COMMON" default="true" />
+    <arg name="USE_WALKING" default="false" />
+    <arg name="USE_COLLISIONCHECK" default="true" />
+    <arg name="USE_IMPEDANCECONTROLLER" default="false" />
+    <arg name="USE_SOFTERRORLIMIT" default="true" />
+  </include>
+
+  <!-- BEGIN:openrtm connection -->
+  <env name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
+  <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm" type="rtmlaunch.py"
+        args="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch"/>
+  <rtconnect from="RobotHardwareServiceROSBridge.rtc:RobotHardwareService"
+             to="$(arg SIMULATOR_NAME).rtc:RobotHardwareService"  subscription_type="new"/>
+  <!-- END:openrtm connection -->
+
+</launch>
diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
new file mode 100644
index 00000000..1b1d66bb
--- /dev/null
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -0,0 +1,47 @@
+<launch>
+  <arg name="KILL_SERVERS" default="false" />
+  <arg name="ROBOT_NAME" default="HRP2JSKNTS" />
+  <arg name="SIMULATOR_NAME" default="RobotHardware0" />
+  <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
+
+  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/models/$(arg ROBOT_NAME)" />
+  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
+
+  <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
+
+  <include file="$(find hrpsys)/launch/hrpsys.launch" >
+    <arg name="USE_RTCD" value="true" />
+    <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
+    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).RobotHardware.conf'/>
+    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME)_nosim.xml" />
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
+    <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
+  </include>
+
+  <!-- hrpsys_ros_bridge -->
+  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
+    <!-- settings -->
+    <arg name="USE_COMMON" default="true" />
+    <arg name="USE_WALKING" default="false" />
+    <arg name="USE_COLLISIONCHECK" default="true" />
+    <arg name="USE_IMPEDANCECONTROLLER" default="false" />
+    <arg name="USE_SOFTERRORLIMIT" default="true" />
+  </include>
+
+  <!-- BEGIN:openrtm connection -->
+  <env name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
+  <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm" type="rtmlaunch.py"
+        args="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch"/>
+  <rtconnect from="RobotHardwareServiceROSBridge.rtc:RobotHardwareService"
+             to="$(arg SIMULATOR_NAME).rtc:RobotHardwareService"  subscription_type="new"/>
+  <!-- END:openrtm connection -->
+
+</launch>
diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
new file mode 100644
index 00000000..64f31d88
--- /dev/null
+++ b/launch/robot_hrpsys_bringup.launch
@@ -0,0 +1,47 @@
+<launch>
+  <arg name="KILL_SERVERS" default="false" />
+  <arg name="ROBOT_NAME" default="SampleRobot" />
+  <arg name="SIMULATOR_NAME" default="RobotHardware0" />
+  <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
+
+  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/models/$(arg ROBOT_NAME)" />
+  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
+
+  <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
+
+  <include file="$(find hrpsys)/launch/hrpsys.launch" >
+    <arg name="USE_RTCD" value="true" />
+    <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
+    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).RobotHardware.conf'/>
+    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME)_nosim.xml" />
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
+    <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
+  </include>
+
+  <!-- hrpsys_ros_bridge -->
+  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
+    <!-- settings -->
+    <arg name="USE_COMMON" default="true" />
+    <arg name="USE_WALKING" default="false" />
+    <arg name="USE_COLLISIONCHECK" default="true" />
+    <arg name="USE_IMPEDANCECONTROLLER" default="false" />
+    <arg name="USE_SOFTERRORLIMIT" default="true" />
+  </include>
+
+  <!-- BEGIN:openrtm connection -->
+  <env name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
+  <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm" type="rtmlaunch.py"
+        args="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch"/>
+  <rtconnect from="RobotHardwareServiceROSBridge.rtc:RobotHardwareService"
+             to="$(arg SIMULATOR_NAME).rtc:RobotHardwareService"  subscription_type="new"/>
+  <!-- END:openrtm connection -->
+
+</launch>
diff --git a/manifest.xml b/manifest.xml
new file mode 100644
index 00000000..a8157ca6
--- /dev/null
+++ b/manifest.xml
@@ -0,0 +1,20 @@
+<package>
+  <description brief="hrpsys_gazebo_tutorials">
+
+     hrpsys_gazebo_tutorials
+
+  </description>
+  <author>Yohei Kakiuchi</author>
+  <license>BSD</license>
+
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/hrpsys_gazebo_tutorials</url>
+
+  <rosdep name="drcsim" />
+  <!--rosdep name="gazebo" /-->
+
+  <depend package="hrpsys_gazebo_general" />
+
+  <depend package="collada_tools" />
+  <depend package="collada_urdf_jsk_patch" />
+</package>
diff --git a/models/HRP2JSK/install_robot.sh b/models/HRP2JSK/install_robot.sh
new file mode 100755
index 00000000..fd0da6b3
--- /dev/null
+++ b/models/HRP2JSK/install_robot.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+if [ ! -e hrpsys ]; then
+##
+    mkdir meshes
+    rosrun collada_tools collada_to_urdf $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://HRP2JSK/meshes'
+##
+    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSK</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' HRP2JSK.urdf
+# continuous joint not working in GAZEBO
+    sed -i -e 's@continuous@revolute@g' HRP2JSK.urdf
+
+    mkdir hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.conf hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.RobotHardware.conf hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.dae hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.xml hrpsys
+fi
+
diff --git a/models/HRP2JSK/manifest.xml b/models/HRP2JSK/manifest.xml
new file mode 100644
index 00000000..4a36e1f2
--- /dev/null
+++ b/models/HRP2JSK/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>HRP2JSK</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>HRP2JSK.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>
diff --git a/models/HRP2JSKNTS/install_robot.sh b/models/HRP2JSKNTS/install_robot.sh
new file mode 100755
index 00000000..93f971fd
--- /dev/null
+++ b/models/HRP2JSKNTS/install_robot.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+if [ ! -e hrpsys ]; then
+##
+    mkdir meshes
+    rosrun collada_tools collada_to_urdf $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://HRP2JSKNTS/meshes'
+##
+    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNTS</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' HRP2JSKNTS.urdf
+# continuous joint not working in GAZEBO
+    sed -i -e 's@continuous@revolute@g' HRP2JSKNTS.urdf
+
+    mkdir hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.conf hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.RobotHardware.conf hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.dae hrpsys
+    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.xml hrpsys
+fi
+
diff --git a/models/HRP2JSKNTS/manifest.xml b/models/HRP2JSKNTS/manifest.xml
new file mode 100644
index 00000000..6aa08846
--- /dev/null
+++ b/models/HRP2JSKNTS/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>HRP2JSKNTS</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>HRP2JSKNTS.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>
diff --git a/models/SampleRobot/install_robot.sh b/models/SampleRobot/install_robot.sh
new file mode 100755
index 00000000..1ac6ce7d
--- /dev/null
+++ b/models/SampleRobot/install_robot.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+if [ ! -e hrpsys ]; then
+##
+    mkdir meshes
+    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://SampleRobot/meshes'
+##
+    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+# continuous joint not working in GAZEBO
+    sed -i -e 's@continuous@revolute@g' SampleRobot.urdf
+
+    mkdir hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.conf hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.RobotHardware.conf hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot_nosim.xml hrpsys
+fi
diff --git a/models/SampleRobot/manifest.xml b/models/SampleRobot/manifest.xml
new file mode 100644
index 00000000..388d18cf
--- /dev/null
+++ b/models/SampleRobot/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>SampleRobot</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>SampleRobot.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>
diff --git a/models/manifest.xml b/models/manifest.xml
new file mode 100644
index 00000000..145a7541
--- /dev/null
+++ b/models/manifest.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<database>
+  <name>hrpsys_gazebo</name>
+  <license>Creative Commons Attribution 3.0 Unported</license>
+
+  <models>
+    <uri>file://SampleRobot</uri>
+    <uri>file://HRP2JSK</uri>
+    <uri>file://HRP2JSKNTS</uri>
+  </models>
+</database>
diff --git a/rospack_nosubdirs b/rospack_nosubdirs
new file mode 100644
index 00000000..e69de29b
diff --git a/setup.sh b/setup.sh
new file mode 100644
index 00000000..9ae88edd
--- /dev/null
+++ b/setup.sh
@@ -0,0 +1,10 @@
+pkgdir=`rospack find hrpsys_gazebo_general`
+tpkgdir=`rospack find hrpsys_gazebo_tutorials`
+
+if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
+    for dname in `find ${tpkgdir}/models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
+#    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
+    export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
+    export GAZEBO_MODEL_PATH=${tpkgdir}/models:$GAZEBO_MODEL_PATH
+    export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
+fi
diff --git a/worlds/HRP2JSK.world b/worlds/HRP2JSK.world
new file mode 100644
index 00000000..6f277c53
--- /dev/null
+++ b/worlds/HRP2JSK.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://HRP2JSK</uri>
+      <pose>0 0 0.70 0 0 0</pose>
+    </include>
+  </world>
+</sdf>
diff --git a/worlds/HRP2JSKNTS.world b/worlds/HRP2JSKNTS.world
new file mode 100644
index 00000000..fefdcada
--- /dev/null
+++ b/worlds/HRP2JSKNTS.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://HRP2JSKNTS</uri>
+      <pose>0 0 0.73 0 0 0</pose>
+    </include>
+  </world>
+</sdf>
diff --git a/worlds/SampleRobot.world b/worlds/SampleRobot.world
new file mode 100644
index 00000000..6ce4a1b3
--- /dev/null
+++ b/worlds/SampleRobot.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://SampleRobot</uri>
+      <pose>0 0 0.73 0 0 0</pose>
+    </include>
+  </world>
+</sdf>

From eca1feb8177ae5078491e818721eaeea1d7c66ae Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 30 Jul 2013 06:39:29 +0000
Subject: [PATCH 002/306] fix package name

---
 launch/robot_hrpsys_bringup.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index 64f31d88..23e50113 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -9,7 +9,7 @@
 
   <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
 
-  <include file="$(find hrpsys)/launch/hrpsys.launch" >
+  <include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
     <arg name="USE_RTCD" value="true" />
     <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
     <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).RobotHardware.conf'/>
@@ -38,7 +38,7 @@
   <!-- BEGIN:openrtm connection -->
   <env name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
   <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm" type="rtmlaunch.py"
+  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm_tools" type="rtmlaunch.py"
         args="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch"/>
   <rtconnect from="RobotHardwareServiceROSBridge.rtc:RobotHardwareService"
              to="$(arg SIMULATOR_NAME).rtc:RobotHardwareService"  subscription_type="new"/>

From 631dba1412390cec24b4b62dc17440ad3f715fcb Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 30 Jul 2013 10:37:28 +0000
Subject: [PATCH 003/306] modified hrp2jsk_hrpsys_bringup.launch to include
 robot_hrpsys_bringup.launch

---
 launch/hrp2jsk_hrpsys_bringup.launch    | 44 ++-----------------------
 launch/hrp2jsknts_hrpsys_bringup.launch | 44 ++-----------------------
 2 files changed, 4 insertions(+), 84 deletions(-)

diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index 66353c77..b76a64ca 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -1,47 +1,7 @@
 <launch>
-  <arg name="KILL_SERVERS" default="false" />
   <arg name="ROBOT_NAME" default="HRP2JSK" />
-  <arg name="SIMULATOR_NAME" default="RobotHardware0" />
-  <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
 
-  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/models/$(arg ROBOT_NAME)" />
-  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
-
-  <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
-
-  <include file="$(find hrpsys)/launch/hrpsys.launch" >
-    <arg name="USE_RTCD" value="true" />
-    <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
-    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).RobotHardware.conf'/>
-    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME)_nosim.xml" />
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
-    <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
-    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
-    <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
-  </include>
-
-  <!-- hrpsys_ros_bridge -->
-  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
-    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
-    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
-    <!-- settings -->
-    <arg name="USE_COMMON" default="true" />
-    <arg name="USE_WALKING" default="false" />
-    <arg name="USE_COLLISIONCHECK" default="true" />
-    <arg name="USE_IMPEDANCECONTROLLER" default="false" />
-    <arg name="USE_SOFTERRORLIMIT" default="true" />
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
   </include>
-
-  <!-- BEGIN:openrtm connection -->
-  <env name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
-  <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm" type="rtmlaunch.py"
-        args="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch"/>
-  <rtconnect from="RobotHardwareServiceROSBridge.rtc:RobotHardwareService"
-             to="$(arg SIMULATOR_NAME).rtc:RobotHardwareService"  subscription_type="new"/>
-  <!-- END:openrtm connection -->
-
 </launch>
diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
index 1b1d66bb..1f286600 100644
--- a/launch/hrp2jsknts_hrpsys_bringup.launch
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -1,47 +1,7 @@
 <launch>
-  <arg name="KILL_SERVERS" default="false" />
   <arg name="ROBOT_NAME" default="HRP2JSKNTS" />
-  <arg name="SIMULATOR_NAME" default="RobotHardware0" />
-  <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
 
-  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/models/$(arg ROBOT_NAME)" />
-  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
-
-  <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
-
-  <include file="$(find hrpsys)/launch/hrpsys.launch" >
-    <arg name="USE_RTCD" value="true" />
-    <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
-    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).RobotHardware.conf'/>
-    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME)_nosim.xml" />
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
-    <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
-    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
-    <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
-  </include>
-
-  <!-- hrpsys_ros_bridge -->
-  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
-    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
-    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
-    <!-- settings -->
-    <arg name="USE_COMMON" default="true" />
-    <arg name="USE_WALKING" default="false" />
-    <arg name="USE_COLLISIONCHECK" default="true" />
-    <arg name="USE_IMPEDANCECONTROLLER" default="false" />
-    <arg name="USE_SOFTERRORLIMIT" default="true" />
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
   </include>
-
-  <!-- BEGIN:openrtm connection -->
-  <env name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
-  <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm" type="rtmlaunch.py"
-        args="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch"/>
-  <rtconnect from="RobotHardwareServiceROSBridge.rtc:RobotHardwareService"
-             to="$(arg SIMULATOR_NAME).rtc:RobotHardwareService"  subscription_type="new"/>
-  <!-- END:openrtm connection -->
-
 </launch>

From dcee3a96674cd07475522db24dc097d4df348d0f Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 30 Jul 2013 10:48:40 +0000
Subject: [PATCH 004/306] rename mdoels -> robot_models, add environment_models

---
 {models => robot_models}/HRP2JSK/install_robot.sh     | 0
 {models => robot_models}/HRP2JSK/manifest.xml         | 0
 {models => robot_models}/HRP2JSKNTS/install_robot.sh  | 0
 {models => robot_models}/HRP2JSKNTS/manifest.xml      | 0
 {models => robot_models}/SampleRobot/install_robot.sh | 0
 {models => robot_models}/SampleRobot/manifest.xml     | 0
 {models => robot_models}/manifest.xml                 | 0
 setup.sh                                              | 2 +-
 8 files changed, 1 insertion(+), 1 deletion(-)
 rename {models => robot_models}/HRP2JSK/install_robot.sh (100%)
 rename {models => robot_models}/HRP2JSK/manifest.xml (100%)
 rename {models => robot_models}/HRP2JSKNTS/install_robot.sh (100%)
 rename {models => robot_models}/HRP2JSKNTS/manifest.xml (100%)
 rename {models => robot_models}/SampleRobot/install_robot.sh (100%)
 rename {models => robot_models}/SampleRobot/manifest.xml (100%)
 rename {models => robot_models}/manifest.xml (100%)

diff --git a/models/HRP2JSK/install_robot.sh b/robot_models/HRP2JSK/install_robot.sh
similarity index 100%
rename from models/HRP2JSK/install_robot.sh
rename to robot_models/HRP2JSK/install_robot.sh
diff --git a/models/HRP2JSK/manifest.xml b/robot_models/HRP2JSK/manifest.xml
similarity index 100%
rename from models/HRP2JSK/manifest.xml
rename to robot_models/HRP2JSK/manifest.xml
diff --git a/models/HRP2JSKNTS/install_robot.sh b/robot_models/HRP2JSKNTS/install_robot.sh
similarity index 100%
rename from models/HRP2JSKNTS/install_robot.sh
rename to robot_models/HRP2JSKNTS/install_robot.sh
diff --git a/models/HRP2JSKNTS/manifest.xml b/robot_models/HRP2JSKNTS/manifest.xml
similarity index 100%
rename from models/HRP2JSKNTS/manifest.xml
rename to robot_models/HRP2JSKNTS/manifest.xml
diff --git a/models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
similarity index 100%
rename from models/SampleRobot/install_robot.sh
rename to robot_models/SampleRobot/install_robot.sh
diff --git a/models/SampleRobot/manifest.xml b/robot_models/SampleRobot/manifest.xml
similarity index 100%
rename from models/SampleRobot/manifest.xml
rename to robot_models/SampleRobot/manifest.xml
diff --git a/models/manifest.xml b/robot_models/manifest.xml
similarity index 100%
rename from models/manifest.xml
rename to robot_models/manifest.xml
diff --git a/setup.sh b/setup.sh
index 9ae88edd..4c04bbb9 100644
--- a/setup.sh
+++ b/setup.sh
@@ -5,6 +5,6 @@ if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     for dname in `find ${tpkgdir}/models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
-    export GAZEBO_MODEL_PATH=${tpkgdir}/models:$GAZEBO_MODEL_PATH
+    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH
     export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi

From b74d753ce9dfbbc735ae71416ab452ea705c3ff1 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 30 Jul 2013 16:29:45 +0000
Subject: [PATCH 005/306] changed robot model dir path in
 hrpsys_gazebo_tutorials/setup.sh : models -> robot_models

---
 setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index 4c04bbb9..e4c468a6 100644
--- a/setup.sh
+++ b/setup.sh
@@ -2,7 +2,7 @@ pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
-    for dname in `find ${tpkgdir}/models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
+    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
     export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH

From 19e4a5dcbf32feb68318654d72eec41a7a8fab06 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 30 Jul 2013 16:42:13 +0000
Subject: [PATCH 006/306] changed robot model dir path in
 hrpsys_gazebo_tutorials/launch/robot_hrpsys_bringup.launch : models ->
 robot_models

---
 launch/robot_hrpsys_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index 23e50113..0419066a 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -4,7 +4,7 @@
   <arg name="SIMULATOR_NAME" default="RobotHardware0" />
   <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
 
-  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/models/$(arg ROBOT_NAME)" />
+  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_NAME)" />
   <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
 
   <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>

From 378bedc1052208759b0590e713830a66fe1e13b5 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 31 Jul 2013 06:39:05 +0000
Subject: [PATCH 007/306] added
 gazebo_hrp2jsk_no_controllers_with_cupboard.launch

---
 ...gazebo_hrp2jsk_no_controllers_with_cupboard.launch | 11 +++++++++++
 1 file changed, 11 insertions(+)
 create mode 100644 launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch

diff --git a/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch b/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
new file mode 100644
index 00000000..a6ac0083
--- /dev/null
+++ b/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="HRP2JSK_cupboard.world"/>
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+  </include>
+</launch>

From 33efa8bb73e0440ccc5ab26b7c81dbb079ea8913 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 31 Jul 2013 09:37:04 +0000
Subject: [PATCH 008/306] added cupboard model

---
 .../cupboard/meshes/cupboard.dae              | 98 +++++++++++++++++++
 environment_models/cupboard/model.config      | 13 +++
 environment_models/cupboard/model.sdf         | 66 +++++++++++++
 environment_models/cupboard/model.urdf        | 66 +++++++++++++
 environment_models/manifest.xml               |  9 ++
 5 files changed, 252 insertions(+)
 create mode 100644 environment_models/cupboard/meshes/cupboard.dae
 create mode 100644 environment_models/cupboard/model.config
 create mode 100644 environment_models/cupboard/model.sdf
 create mode 100644 environment_models/cupboard/model.urdf
 create mode 100644 environment_models/manifest.xml

diff --git a/environment_models/cupboard/meshes/cupboard.dae b/environment_models/cupboard/meshes/cupboard.dae
new file mode 100644
index 00000000..3fe2f725
--- /dev/null
+++ b/environment_models/cupboard/meshes/cupboard.dae
@@ -0,0 +1,98 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0eusassimp_mat_0-fx" name="m0eusassimp_mat_0">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   0</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.4   0.2   0.2   1.0</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8   0.8   0.8   1.0</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   0</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">16</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0eusassimp_mat_0" name="m0eusassimp_mat_0">
+      <instance_effect url="#m0eusassimp_mat_0-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
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+          <technique_common>
+            <accessor count="288" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="864"> 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 </float_array>
+          <technique_common>
+            <accessor count="288" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="96" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="eus_glvertices" name="eus_glvertices">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="theresonlyone" target="#m0eusassimp_mat_0" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/cupboard/model.config b/environment_models/cupboard/model.config
new file mode 100644
index 00000000..5cd4b935
--- /dev/null
+++ b/environment_models/cupboard/model.config
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>Cupboard</name>
+  <version>0.1.0</version>
+  <sdf version='1.3'>model.sdf</sdf>
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+  <description>
+     A model for a circular cupboard.
+  </description>
+</model>
diff --git a/environment_models/cupboard/model.sdf b/environment_models/cupboard/model.sdf
new file mode 100644
index 00000000..28aa7d0f
--- /dev/null
+++ b/environment_models/cupboard/model.sdf
@@ -0,0 +1,66 @@
+<?xml version='1.0'?>
+<sdf version='1.3'>
+  <model name='cupboard'>
+    <static>false</static>
+    <link name='cupboard'>
+      <pose>0 0 0.07 0 0 0</pose>
+
+      <inertial>
+        <pose>0 0 0.15 0 0 0</pose>
+        <mass>3.0</mass>
+        <inertia>
+          <ixx>0.0601875</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0601875</iyy>
+          <iyz>0</iyz>
+          <izz>0.120225</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://cupboard/meshes/cupboard.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://cupboard/meshes/cupboard.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material> -->
+        <!--   <script> -->
+        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
+        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
+        <!--   </script> -->
+        <!-- </material> -->
+      </visual>
+    </link>
+
+    <!-- <joint name="world_joint" type="revolute"> -->
+    <!--   <child>pipe</child> -->
+    <!--   <parent>world</parent> -->
+    <!--   <axis> -->
+    <!--     <limit> -->
+    <!--       <lower>0</lower> -->
+    <!--       <upper>0</upper> -->
+    <!--     </limit> -->
+    <!--     <xyz>0 1 0</xyz> -->
+    <!--     <dynamics> -->
+    <!--       <damping>1.0</damping> -->
+    <!--     </dynamics> -->
+    <!--   </axis> -->
+    <!--   <physics> -->
+    <!--     <ode> -->
+    <!--       <cfm_damping>1</cfm_damping> -->
+    <!--     </ode> -->
+    <!--   </physics> -->
+    <!-- </joint> -->
+  </model>
+</sdf>
diff --git a/environment_models/cupboard/model.urdf b/environment_models/cupboard/model.urdf
new file mode 100644
index 00000000..28aa7d0f
--- /dev/null
+++ b/environment_models/cupboard/model.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0'?>
+<sdf version='1.3'>
+  <model name='cupboard'>
+    <static>false</static>
+    <link name='cupboard'>
+      <pose>0 0 0.07 0 0 0</pose>
+
+      <inertial>
+        <pose>0 0 0.15 0 0 0</pose>
+        <mass>3.0</mass>
+        <inertia>
+          <ixx>0.0601875</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0601875</iyy>
+          <iyz>0</iyz>
+          <izz>0.120225</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://cupboard/meshes/cupboard.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://cupboard/meshes/cupboard.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material> -->
+        <!--   <script> -->
+        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
+        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
+        <!--   </script> -->
+        <!-- </material> -->
+      </visual>
+    </link>
+
+    <!-- <joint name="world_joint" type="revolute"> -->
+    <!--   <child>pipe</child> -->
+    <!--   <parent>world</parent> -->
+    <!--   <axis> -->
+    <!--     <limit> -->
+    <!--       <lower>0</lower> -->
+    <!--       <upper>0</upper> -->
+    <!--     </limit> -->
+    <!--     <xyz>0 1 0</xyz> -->
+    <!--     <dynamics> -->
+    <!--       <damping>1.0</damping> -->
+    <!--     </dynamics> -->
+    <!--   </axis> -->
+    <!--   <physics> -->
+    <!--     <ode> -->
+    <!--       <cfm_damping>1</cfm_damping> -->
+    <!--     </ode> -->
+    <!--   </physics> -->
+    <!-- </joint> -->
+  </model>
+</sdf>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
new file mode 100644
index 00000000..12618b51
--- /dev/null
+++ b/environment_models/manifest.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<database>
+  <name>hrpsys_gazebo</name>
+  <license>Creative Commons Attribution 3.0 Unported</license>
+
+  <models>
+    <uri>file://cupboard</uri>
+  </models>
+</database>

From 21897e3b093d388c57b1bb56c47851ced008f82b Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 31 Jul 2013 09:38:40 +0000
Subject: [PATCH 009/306] forgot to add HRP2JSK_cupboard.world

---
 worlds/HRP2JSK_cupboard.world | 39 +++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 worlds/HRP2JSK_cupboard.world

diff --git a/worlds/HRP2JSK_cupboard.world b/worlds/HRP2JSK_cupboard.world
new file mode 100644
index 00000000..fdb61b46
--- /dev/null
+++ b/worlds/HRP2JSK_cupboard.world
@@ -0,0 +1,39 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://HRP2JSK</uri>
+      <pose>0 0 0.70 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://cupboard</uri>
+      <pose>1 0 0 0 0 3.1415</pose>
+    </include>
+  </world>
+</sdf>

From 9d1bc7d257d4713983889bcc48b7f7b4b121e3e7 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 31 Jul 2013 11:09:21 +0000
Subject: [PATCH 010/306] added other models for gazebo

---
 environment_models/broom/meshes/broom.dae     | 98 +++++++++++++++++++
 environment_models/broom/model.config         | 13 +++
 environment_models/broom/model.sdf            | 66 +++++++++++++
 environment_models/broom/model.urdf           | 66 +++++++++++++
 environment_models/manifest.xml               |  2 +
 .../room73b2/meshes/room73b2.dae              | 98 +++++++++++++++++++
 environment_models/room73b2/model.config      | 13 +++
 environment_models/room73b2/model.sdf         | 66 +++++++++++++
 environment_models/room73b2/model.urdf        | 66 +++++++++++++
 9 files changed, 488 insertions(+)
 create mode 100644 environment_models/broom/meshes/broom.dae
 create mode 100644 environment_models/broom/model.config
 create mode 100644 environment_models/broom/model.sdf
 create mode 100644 environment_models/broom/model.urdf
 create mode 100644 environment_models/room73b2/meshes/room73b2.dae
 create mode 100644 environment_models/room73b2/model.config
 create mode 100644 environment_models/room73b2/model.sdf
 create mode 100644 environment_models/room73b2/model.urdf

diff --git a/environment_models/broom/meshes/broom.dae b/environment_models/broom/meshes/broom.dae
new file mode 100644
index 00000000..1c3c8a05
--- /dev/null
+++ b/environment_models/broom/meshes/broom.dae
@@ -0,0 +1,98 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0eusassimp_mat_0-fx" name="m0eusassimp_mat_0">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   0</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.4   0.2   0.2   1.0</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8   0.8   0.8   1.0</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   0</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">16</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0eusassimp_mat_0" name="m0eusassimp_mat_0">
+      <instance_effect url="#m0eusassimp_mat_0-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="576"> 0.00866025 -0.005 1.25 -1.59872e-17 -0.01 1.25 0.005 -0.00866025 1.25 0.00866025 -0.005 1.25 -0.005 -0.00866025 1.25 -1.59872e-17 -0.01 1.25 0.00866025 -0.005 1.25 -0.00866025 -0.005 1.25 -0.005 -0.00866025 1.25 0.00866025 -0.005 1.25 -0.01 1.06581e-17 1.25 -0.00866025 -0.005 1.25 0.00866025 -0.005 1.25 -0.00866025 0.005 1.25 -0.01 1.06581e-17 1.25 0.00866025 -0.005 1.25 -0.005 0.00866025 1.25 -0.00866025 0.005 1.25 0.00866025 -0.005 1.25 5.32907e-18 0.01 1.25 -0.005 0.00866025 1.25 0.00866025 -0.005 1.25 0.005 0.00866025 1.25 5.32907e-18 0.01 1.25 0.00866025 -0.005 1.25 0.00866025 0.005 1.25 0.005 0.00866025 1.25 0.00866025 0.005 1.25 0.00866025 -0.005 1.25 0.01 0 1.25 0.01 0 0.2 0.005 0.00866025 0.2 0.00866025 0.005 0.2 0.01 0 0.2 5.32907e-18 0.01 0.2 0.005 0.00866025 0.2 0.01 0 0.2 -0.005 0.00866025 0.2 5.32907e-18 0.01 0.2 0.01 0 0.2 -0.00866025 0.005 0.2 -0.005 0.00866025 0.2 0.01 0 0.2 -0.01 1.06581e-17 0.2 -0.00866025 0.005 0.2 0.01 0 0.2 -0.00866025 -0.005 0.2 -0.01 1.06581e-17 0.2 0.01 0 0.2 -0.005 -0.00866025 0.2 -0.00866025 -0.005 0.2 0.01 0 0.2 -1.59872e-17 -0.01 0.2 -0.005 -0.00866025 0.2 0.01 0 0.2 0.005 -0.00866025 0.2 -1.59872e-17 -0.01 0.2 0.005 -0.00866025 0.2 0.01 0 0.2 0.00866025 -0.005 0.2 0.00866025 -0.005 1.25 0.01 0 0.2 0.01 0 1.25 0.01 0 0.2 0.00866025 -0.005 1.25 0.00866025 -0.005 0.2 0.005 -0.00866025 1.25 0.00866025 -0.005 0.2 0.00866025 -0.005 1.25 0.00866025 -0.005 0.2 0.005 -0.00866025 1.25 0.005 -0.00866025 0.2 -1.59872e-17 -0.01 1.25 0.005 -0.00866025 0.2 0.005 -0.00866025 1.25 0.005 -0.00866025 0.2 -1.59872e-17 -0.01 1.25 -1.59872e-17 -0.01 0.2 -0.005 -0.00866025 1.25 -1.59872e-17 -0.01 0.2 -1.59872e-17 -0.01 1.25 -1.59872e-17 -0.01 0.2 -0.005 -0.00866025 1.25 -0.005 -0.00866025 0.2 -0.00866025 -0.005 1.25 -0.005 -0.00866025 0.2 -0.005 -0.00866025 1.25 -0.005 -0.00866025 0.2 -0.00866025 -0.005 1.25 -0.00866025 -0.005 0.2 -0.01 1.06581e-17 1.25 -0.00866025 -0.005 0.2 -0.00866025 -0.005 1.25 -0.00866025 -0.005 0.2 -0.01 1.06581e-17 1.25 -0.01 1.06581e-17 0.2 -0.00866025 0.005 1.25 -0.01 1.06581e-17 0.2 -0.01 1.06581e-17 1.25 -0.01 1.06581e-17 0.2 -0.00866025 0.005 1.25 -0.00866025 0.005 0.2 -0.005 0.00866025 1.25 -0.00866025 0.005 0.2 -0.00866025 0.005 1.25 -0.00866025 0.005 0.2 -0.005 0.00866025 1.25 -0.005 0.00866025 0.2 5.32907e-18 0.01 1.25 -0.005 0.00866025 0.2 -0.005 0.00866025 1.25 -0.005 0.00866025 0.2 5.32907e-18 0.01 1.25 5.32907e-18 0.01 0.2 0.005 0.00866025 1.25 5.32907e-18 0.01 0.2 5.32907e-18 0.01 1.25 5.32907e-18 0.01 0.2 0.005 0.00866025 1.25 0.005 0.00866025 0.2 0.00866025 0.005 1.25 0.005 0.00866025 0.2 0.005 0.00866025 1.25 0.005 0.00866025 0.2 0.00866025 0.005 1.25 0.00866025 0.005 0.2 0.01 0 1.25 0.00866025 0.005 0.2 0.00866025 0.005 1.25 0.00866025 0.005 0.2 0.01 0 1.25 0.01 0 0.2 0.125 -0.01 0 -0.06 -0.01 0.17 -0.125 -0.01 0 0.125 -0.01 0 -0.02 -0.01 0.2 -0.06 -0.01 0.17 0.125 -0.01 0 0.02 -0.01 0.2 -0.02 -0.01 0.2 0.02 -0.01 0.2 0.125 -0.01 0 0.06 -0.01 0.17 0.06 0.01 0.17 -0.02 0.01 0.2 0.02 0.01 0.2 0.06 0.01 0.17 -0.06 0.01 0.17 -0.02 0.01 0.2 0.06 0.01 0.17 -0.125 0.01 0 -0.06 0.01 0.17 -0.125 0.01 0 0.06 0.01 0.17 0.125 0.01 0 0.125 -0.01 0 0.06 0.01 0.17 0.06 -0.01 0.17 0.06 0.01 0.17 0.125 -0.01 0 0.125 0.01 0 -0.125 -0.01 0 0.125 0.01 0 0.125 -0.01 0 0.125 0.01 0 -0.125 -0.01 0 -0.125 0.01 0 -0.06 -0.01 0.17 -0.125 0.01 0 -0.125 -0.01 0 -0.125 0.01 0 -0.06 -0.01 0.17 -0.06 0.01 0.17 -0.02 -0.01 0.2 -0.06 0.01 0.17 -0.06 -0.01 0.17 -0.06 0.01 0.17 -0.02 -0.01 0.2 -0.02 0.01 0.2 0.02 -0.01 0.2 -0.02 0.01 0.2 -0.02 -0.01 0.2 -0.02 0.01 0.2 0.02 -0.01 0.2 0.02 0.01 0.2 0.06 -0.01 0.17 0.02 0.01 0.2 0.02 -0.01 0.2 0.02 0.01 0.2 0.06 -0.01 0.17 0.06 0.01 0.17 </float_array>
+          <technique_common>
+            <accessor count="192" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="576"> 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 0 1 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 0 1 0 0 1 0 0 1 0 0 1 0 -1.43459e-14 1 0 -1.43459e-14 1 0 -1.43459e-14 1 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 0 -1 0 6.21197e-15 -1 0 6.21197e-15 -1 0 6.21197e-15 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 2.84219e-16 0 -1 2.84219e-16 0 -1 2.84219e-16 0 -1 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 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0.965926 -0.25882 0 0.965926 -0.25882 0 0.965926 -0.25882 0 0.965926 -0.25882 0 0.965926 -0.25882 0 0.965926 -0.25882 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.25882 -0.965926 0 0.25882 -0.965926 0 0.25882 -0.965926 0 0.25882 -0.965926 0 0.25882 -0.965926 0 0.25882 -0.965926 0 -0.25882 -0.965926 0 -0.25882 -0.965926 0 -0.25882 -0.965926 0 -0.25882 -0.965926 0 -0.25882 -0.965926 0 -0.25882 -0.965926 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.965926 -0.25882 0 -0.965926 -0.25882 0 -0.965926 -0.25882 0 -0.965926 -0.25882 0 -0.965926 -0.25882 0 -0.965926 -0.25882 0 -0.965926 0.25882 0 -0.965926 0.25882 0 -0.965926 0.25882 0 -0.965926 0.25882 0 -0.965926 0.25882 0 -0.965926 0.25882 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.25882 0.965926 0 -0.25882 0.965926 0 -0.25882 0.965926 0 -0.25882 0.965926 0 -0.25882 0.965926 0 -0.25882 0.965926 0 0.25882 0.965926 0 0.25882 0.965926 0 0.25882 0.965926 0 0.25882 0.965926 0 0.25882 0.965926 0 0.25882 0.965926 0 0.707107 0.707107 0 0.707107 0.707107 0 0.707107 0.707107 0 0.707107 0.707107 0 0.707107 0.707107 0 0.707107 0.707107 0 0.965926 0.25882 0 0.965926 0.25882 0 0.965926 0.25882 0 0.965926 0.25882 0 0.965926 0.25882 0 0.965926 0.25882 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 0 -1 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 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0.934052 0 0.357137 0.934052 0 0.357137 0.934052 0 0.357137 0.934052 0 0.357137 0.934052 0 0.357137 0.934052 0 0.357137 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0.934052 0 0.357137 -0.934052 0 0.357137 -0.934052 0 0.357137 -0.934052 0 0.357137 -0.934052 0 0.357137 -0.934052 0 0.357137 -0.6 0 0.8 -0.6 0 0.8 -0.6 0 0.8 -0.6 0 0.8 -0.6 0 0.8 -0.6 0 0.8 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0.6 0 0.8 0.6 0 0.8 0.6 0 0.8 0.6 0 0.8 0.6 0 0.8 0.6 0 0.8 </float_array>
+          <technique_common>
+            <accessor count="192" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="64" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="eus_glvertices" name="eus_glvertices">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="theresonlyone" target="#m0eusassimp_mat_0" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/broom/model.config b/environment_models/broom/model.config
new file mode 100644
index 00000000..feb7e577
--- /dev/null
+++ b/environment_models/broom/model.config
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>Broom</name>
+  <version>0.1.0</version>
+  <sdf version='1.3'>model.sdf</sdf>
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+  <description>
+     A model for a broom.
+  </description>
+</model>
diff --git a/environment_models/broom/model.sdf b/environment_models/broom/model.sdf
new file mode 100644
index 00000000..c2d7cb65
--- /dev/null
+++ b/environment_models/broom/model.sdf
@@ -0,0 +1,66 @@
+<?xml version='1.0'?>
+<sdf version='1.3'>
+  <model name='broom'>
+    <static>false</static>
+    <link name='broom'>
+      <pose>0 0 0.07 0 0 0</pose>
+
+      <inertial>
+        <pose>0 0 0.15 0 0 0</pose>
+        <mass>3.0</mass>
+        <inertia>
+          <ixx>0.0601875</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0601875</iyy>
+          <iyz>0</iyz>
+          <izz>0.120225</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://broom/meshes/broom.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://broom/meshes/broom.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material> -->
+        <!--   <script> -->
+        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
+        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
+        <!--   </script> -->
+        <!-- </material> -->
+      </visual>
+    </link>
+
+    <!-- <joint name="world_joint" type="revolute"> -->
+    <!--   <child>pipe</child> -->
+    <!--   <parent>world</parent> -->
+    <!--   <axis> -->
+    <!--     <limit> -->
+    <!--       <lower>0</lower> -->
+    <!--       <upper>0</upper> -->
+    <!--     </limit> -->
+    <!--     <xyz>0 1 0</xyz> -->
+    <!--     <dynamics> -->
+    <!--       <damping>1.0</damping> -->
+    <!--     </dynamics> -->
+    <!--   </axis> -->
+    <!--   <physics> -->
+    <!--     <ode> -->
+    <!--       <cfm_damping>1</cfm_damping> -->
+    <!--     </ode> -->
+    <!--   </physics> -->
+    <!-- </joint> -->
+  </model>
+</sdf>
diff --git a/environment_models/broom/model.urdf b/environment_models/broom/model.urdf
new file mode 100644
index 00000000..c2d7cb65
--- /dev/null
+++ b/environment_models/broom/model.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0'?>
+<sdf version='1.3'>
+  <model name='broom'>
+    <static>false</static>
+    <link name='broom'>
+      <pose>0 0 0.07 0 0 0</pose>
+
+      <inertial>
+        <pose>0 0 0.15 0 0 0</pose>
+        <mass>3.0</mass>
+        <inertia>
+          <ixx>0.0601875</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0601875</iyy>
+          <iyz>0</iyz>
+          <izz>0.120225</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://broom/meshes/broom.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://broom/meshes/broom.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material> -->
+        <!--   <script> -->
+        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
+        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
+        <!--   </script> -->
+        <!-- </material> -->
+      </visual>
+    </link>
+
+    <!-- <joint name="world_joint" type="revolute"> -->
+    <!--   <child>pipe</child> -->
+    <!--   <parent>world</parent> -->
+    <!--   <axis> -->
+    <!--     <limit> -->
+    <!--       <lower>0</lower> -->
+    <!--       <upper>0</upper> -->
+    <!--     </limit> -->
+    <!--     <xyz>0 1 0</xyz> -->
+    <!--     <dynamics> -->
+    <!--       <damping>1.0</damping> -->
+    <!--     </dynamics> -->
+    <!--   </axis> -->
+    <!--   <physics> -->
+    <!--     <ode> -->
+    <!--       <cfm_damping>1</cfm_damping> -->
+    <!--     </ode> -->
+    <!--   </physics> -->
+    <!-- </joint> -->
+  </model>
+</sdf>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index 12618b51..ccd1eaca 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -5,5 +5,7 @@
 
   <models>
     <uri>file://cupboard</uri>
+    <uri>file://broom</uri>
+    <uri>file://room73b2</uri>
   </models>
 </database>
diff --git a/environment_models/room73b2/meshes/room73b2.dae b/environment_models/room73b2/meshes/room73b2.dae
new file mode 100644
index 00000000..33905039
--- /dev/null
+++ b/environment_models/room73b2/meshes/room73b2.dae
@@ -0,0 +1,98 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
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+            </emission>
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+            </ambient>
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+            </specular>
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+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
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+      <instance_effect url="#m0eusassimp_mat_0-fx"/>
+    </material>
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1.58748 0.265163 1.78557 1.58748 0.265816 1.81416 1.59076 0.263707 1.8 1.59404 0.26647 1.81389 1.59404 0.263707 1.8 1.59404 0.265816 1.81416 1.59076 0.263 1.8 1.59076 0.273837 1.82616 1.59076 0.26647 1.81389 1.59404 0.274337 1.82566 1.59404 0.26647 1.81389 1.59404 0.273837 1.82616 1.59076 0.265816 1.81416 1.59076 0.285841 1.83418 1.59076 0.274337 1.82566 1.59404 0.286111 1.83353 1.59404 0.274337 1.82566 1.59404 0.285841 1.83418 1.59076 0.273837 1.82616 1.59076 0.3 1.837 1.59076 0.286111 1.83353 1.59404 0.3 1.83629 1.59404 0.286111 1.83353 1.59404 0.3 1.837 1.59076 0.285841 1.83418 1.59076 0.314159 1.83418 1.59076 0.3 1.83629 1.59404 0.313889 1.83353 1.59404 0.3 1.83629 1.59404 0.314159 1.83418 1.59076 0.3 1.837 1.59076 0.326163 1.82616 1.59076 0.313889 1.83353 1.59404 0.325663 1.82566 1.59404 0.313889 1.83353 1.59404 0.326163 1.82616 1.59076 0.314159 1.83418 1.59076 0.334184 1.81416 1.59076 0.325663 1.82566 1.59404 0.33353 1.81389 1.59404 0.325663 1.82566 1.59404 0.334184 1.81416 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3.40078 0.826589 0.438566 3.39311 0.826589 0.4 3.40078 0.826589 0.434886 3.38422 0.821689 0.4 3.39116 0.821689 0.464461 3.36446 0.821689 0.438566 3.39311 0.826589 0.471261 3.37126 0.826589 0.438566 3.39311 0.826589 0.464461 3.36446 0.821689 0.434886 3.38422 0.821689 0.484222 3.33489 0.821689 0.471261 3.37126 0.826589 0.493107 3.33857 0.826589 0.471261 3.37126 0.826589 0.484222 3.33489 0.821689 0.464461 3.36446 0.821689 0.491161 3.3 0.821689 0.493107 3.33857 0.826589 0.500779 3.3 0.826589 0.493107 3.33857 0.826589 0.491161 3.3 0.821689 0.484222 3.33489 0.821689 0.484222 3.26511 0.821689 0.500779 3.3 0.826589 0.493107 3.26143 0.826589 0.500779 3.3 0.826589 0.484222 3.26511 0.821689 0.491161 3.3 0.821689 0.464461 3.23554 0.821689 0.493107 3.26143 0.826589 0.471261 3.22874 0.826589 0.493107 3.26143 0.826589 0.464461 3.23554 0.821689 0.484222 3.26511 0.821689 0.434886 3.21578 0.821689 0.471261 3.22874 0.826589 0.438566 3.20689 0.826589 0.471261 3.22874 0.826589 0.434886 3.21578 0.821689 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3.34149 0.834221 0.328739 3.37126 0.826589 0.306893 3.33857 0.826589 0.361434 3.39311 0.826589 0.323342 3.37666 0.834221 0.358513 3.40016 0.834221 0.323342 3.37666 0.834221 0.361434 3.39311 0.826589 0.328739 3.37126 0.826589 0.4 3.40078 0.826589 0.358513 3.40016 0.834221 0.4 3.40841 0.834221 0.358513 3.40016 0.834221 0.4 3.40078 0.826589 0.361434 3.39311 0.826589 0.438566 3.39311 0.826589 0.4 3.40841 0.834221 0.441487 3.40016 0.834221 0.4 3.40841 0.834221 0.438566 3.39311 0.826589 0.4 3.40078 0.826589 0.471261 3.37126 0.826589 0.441487 3.40016 0.834221 0.476658 3.37666 0.834221 0.441487 3.40016 0.834221 0.471261 3.37126 0.826589 0.438566 3.39311 0.826589 0.493107 3.33857 0.826589 0.476658 3.37666 0.834221 0.500159 3.34149 0.834221 0.476658 3.37666 0.834221 0.493107 3.33857 0.826589 0.471261 3.37126 0.826589 0.500779 3.3 0.826589 0.500159 3.34149 0.834221 0.508411 3.3 0.834221 0.500159 3.34149 0.834221 0.500779 3.3 0.826589 0.493107 3.33857 0.826589 0.493107 3.26143 0.826589 0.508411 3.3 0.834221 0.500159 3.25851 0.834221 0.508411 3.3 0.834221 0.493107 3.26143 0.826589 0.500779 3.3 0.826589 0.471261 3.22874 0.826589 0.500159 3.25851 0.834221 0.476658 3.22334 0.834221 0.500159 3.25851 0.834221 0.471261 3.22874 0.826589 0.493107 3.26143 0.826589 0.438566 3.20689 0.826589 0.476658 3.22334 0.834221 0.441487 3.19984 0.834221 0.476658 3.22334 0.834221 0.438566 3.20689 0.826589 0.471261 3.22874 0.826589 0.4 3.19922 0.826589 0.441487 3.19984 0.834221 0.4 3.19159 0.834221 0.441487 3.19984 0.834221 0.4 3.19922 0.826589 0.438566 3.20689 0.826589 0.361434 3.20689 0.826589 0.4 3.19159 0.834221 0.358513 3.19984 0.834221 0.4 3.19159 0.834221 0.361434 3.20689 0.826589 0.4 3.19922 0.826589 0.328739 3.22874 0.826589 0.358513 3.19984 0.834221 0.323342 3.22334 0.834221 0.358513 3.19984 0.834221 0.328739 3.22874 0.826589 0.361434 3.20689 0.826589 0.306893 3.26143 0.826589 0.323342 3.22334 0.834221 0.299841 3.25851 0.834221 0.323342 3.22334 0.834221 0.306893 3.26143 0.826589 0.328739 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68282 68283 68284 68285 68286 68287 68288 68289 68290 68291 68292 68293 68294 68295 68296 68297 68298 68299 68300 68301 68302 68303 68304 68305 68306 68307 68308 68309 68310 68311 68312 68313 68314 68315 68316 68317 68318 68319 68320 68321 68322 68323 68324 68325 68326 68327 68328 68329 68330 68331 68332 68333 68334 68335 68336 68337 68338 68339 68340 68341 68342 68343 68344 68345 68346 68347 68348 68349 68350 68351 68352 68353 68354 68355 68356 68357 68358 68359 68360 68361 68362 68363 68364 68365 68366 68367 68368 68369 68370 68371 68372 68373 68374 68375 68376 68377 68378 68379 68380 68381 68382 68383 68384 68385 68386 68387 68388 68389 68390 68391 68392 68393 68394 68395 68396 68397 68398 68399 68400 68401 68402 68403 68404 68405 68406 68407 68408 68409 68410 68411 68412 68413 68414 68415 68416 68417 68418 68419 68420 68421 68422 68423 68424 68425 68426 68427 68428 68429 68430 68431 68432 68433 68434 68435 68436 68437 68438 68439 68440 68441 68442 68443 68444 68445 68446 68447 68448 68449 68450 68451 68452 68453 68454 68455 68456 68457 68458 68459 68460 68461 68462 68463 68464 68465 68466 68467 68468 68469 68470 68471 68472 68473 68474 68475 68476 68477 68478 68479 68480 68481 68482 68483 68484 68485 68486 68487 68488 68489 68490 68491 68492 68493 68494 68495 68496 68497 68498 68499 68500 68501 68502 68503 68504 68505 68506 68507 68508 68509 68510 68511 68512 68513 68514 68515 68516 68517 68518 68519 68520 68521 68522 68523 68524 68525 68526 68527 68528 68529 68530 68531 68532 68533 68534 68535 68536 68537 68538 68539 68540 68541 68542 68543 68544 68545 68546 68547 68548 68549 68550 68551 68552 68553 68554 68555 68556 68557 68558 68559 68560 68561 68562 68563 68564 68565 68566 68567 68568 68569 68570 68571 68572 68573 68574 68575 68576 68577 68578 68579 68580 68581 68582 68583 68584 68585 68586 68587 68588 68589 68590 68591 68592 68593 68594 68595 68596 68597 68598 68599 68600 68601 68602 68603 68604 68605 68606 68607 68608 68609 68610 68611 68612 68613 68614 68615 68616 68617 68618 68619 68620 68621 68622 68623 68624 68625 68626 68627 68628 68629 68630 68631 68632 68633 68634 68635 68636 68637 68638 68639 68640 68641 68642 68643 68644 68645 68646 68647 68648 68649 68650 68651 68652 68653 68654 68655 68656 68657 68658 68659 68660 68661 68662 68663 68664 68665 68666 68667 68668 68669 68670 68671 68672 68673 68674 68675 68676 68677 68678 68679 68680 68681 68682 68683 68684 68685 68686 68687 68688 68689 68690 68691 68692 68693 68694 68695 68696 68697 68698 68699 68700 68701 68702 68703 68704 68705 68706 68707 68708 68709 68710 68711 68712 68713 68714 68715 68716 68717 68718 68719 68720 68721 68722 68723 68724 68725 68726 68727 68728 68729 68730 68731 68732 68733 68734 68735 68736 68737 68738 68739 68740 68741 68742 68743 68744 68745 68746 68747 68748 68749 68750 68751 68752 68753 68754 68755 68756 68757 68758 68759 68760 68761 68762 68763 68764 68765 68766 68767 68768 68769 68770 68771 68772 68773 68774 68775 68776 68777 68778 68779 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68946 68947 68948 68949 68950 68951 68952 68953 68954 68955 68956 68957 68958 68959 68960 68961 68962 68963 68964 68965 68966 68967 68968 68969 68970 68971 68972 68973 68974 68975 68976 68977 68978 68979 68980 68981 68982 68983 68984 68985 68986 68987 68988 68989 68990 68991 68992 68993 68994 68995 68996 68997 68998 68999 69000 69001 69002 69003 69004 69005 69006 69007 69008 69009 69010 69011 69012 69013 69014 69015 69016 69017 69018 69019 69020 69021 69022 69023 69024 69025 69026 69027 69028 69029 69030 69031 69032 69033 69034 69035 69036 69037 69038 69039 69040 69041 69042 69043 69044 69045 69046 69047 69048 69049 69050 69051 69052 69053 69054 69055 69056 69057 69058 69059 69060 69061 69062 69063 69064 69065 69066 69067 69068 69069 69070 69071 69072 69073 69074 69075 69076 69077 69078 69079 69080 69081 69082 69083 69084 69085 69086 69087 69088 69089 69090 69091 69092 69093 69094 69095 69096 69097 69098 69099 69100 69101 69102 69103 69104 69105 69106 69107 69108 69109 69110 69111 69112 69113 69114 69115 69116 69117 69118 69119 69120 69121 69122 69123 69124 69125 69126 69127 69128 69129 69130 69131 69132 69133 69134 69135 69136 69137 69138 69139 69140 69141 69142 69143 69144 69145 69146 69147 69148 69149 69150 69151 69152 69153 69154 69155 69156 69157 69158 69159 69160 69161 69162 69163 69164 69165 69166 69167 69168 69169 69170 69171 69172 69173 69174 69175 69176 69177 69178 69179 69180 69181 69182 69183 69184 69185 69186 69187 69188 69189 69190 69191 69192 69193 69194 69195 69196 69197 69198 69199 69200 69201 69202 69203 69204 69205 69206 69207 69208 69209 69210 69211 69212 69213 69214 69215 69216 69217 69218 69219 69220 69221 69222 69223 69224 69225 69226 69227 69228 69229 69230 69231 69232 69233 69234 69235 69236 69237 69238 69239 69240 69241 69242 69243 69244 69245 69246 69247 69248 69249 69250 69251 69252 69253 69254 69255 69256 69257 69258 69259 69260 69261 69262 69263 69264 69265 69266 69267 69268 69269 69270 69271 69272 69273 69274 69275 69276 69277 69278 69279 69280 69281 69282 69283 69284 69285 69286 69287 69288 69289 69290 69291 69292 69293 69294 69295 69296 69297 69298 69299 69300 69301 69302 69303 69304 69305 69306 69307 69308 69309 69310 69311 69312 69313 69314 69315 69316 69317 69318 69319 69320 69321 69322 69323 69324 69325 69326 69327 69328 69329 69330 69331 69332 69333 69334 69335 69336 69337 69338 69339 69340 69341 69342 69343 69344 69345 69346 69347 69348 69349 69350 69351 69352 69353 69354 69355 69356 69357 69358 69359 69360 69361 69362 69363 69364 69365 69366 69367 69368 69369 69370 69371 69372 69373 69374 69375 69376 69377 69378 69379 69380 69381 69382 69383 69384 69385 69386 69387 69388 69389 69390 69391 69392 69393 69394 69395 69396 69397 69398 69399 69400 69401 69402 69403 69404 69405 69406 69407 69408 69409 69410 69411 69412 69413 69414 69415 69416 69417 69418 69419 69420 69421 69422 69423 69424 69425 69426 69427 69428 69429 69430 69431 69432 69433 69434 69435 69436 69437 69438 69439 69440 69441 69442 69443 69444 69445 69446 69447 69448 69449 69450 69451 69452 69453 69454 69455 69456 69457 69458 69459 69460 69461 69462 69463 69464 69465 69466 69467 69468 69469 69470 69471 69472 69473 69474 69475 69476 69477 69478 69479 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="eus_glvertices" name="eus_glvertices">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="theresonlyone" target="#m0eusassimp_mat_0" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/room73b2/model.config b/environment_models/room73b2/model.config
new file mode 100644
index 00000000..2660bb0f
--- /dev/null
+++ b/environment_models/room73b2/model.config
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>Room73B2</name>
+  <version>0.1.0</version>
+  <sdf version='1.3'>model.sdf</sdf>
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+  <description>
+     A model for a Room73B2.
+  </description>
+</model>
diff --git a/environment_models/room73b2/model.sdf b/environment_models/room73b2/model.sdf
new file mode 100644
index 00000000..b60404ee
--- /dev/null
+++ b/environment_models/room73b2/model.sdf
@@ -0,0 +1,66 @@
+<?xml version='1.0'?>
+<sdf version='1.3'>
+  <model name='room73b2'>
+    <static>false</static>
+    <link name='room73b2'>
+      <pose>0 0 0.07 0 0 0</pose>
+
+      <inertial>
+        <pose>0 0 0.15 0 0 0</pose>
+        <mass>3.0</mass>
+        <inertia>
+          <ixx>0.0601875</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0601875</iyy>
+          <iyz>0</iyz>
+          <izz>0.120225</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://room73b2/meshes/room73b2.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://room73b2/meshes/room73b2.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material> -->
+        <!--   <script> -->
+        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
+        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
+        <!--   </script> -->
+        <!-- </material> -->
+      </visual>
+    </link>
+
+    <!-- <joint name="world_joint" type="revolute"> -->
+    <!--   <child>pipe</child> -->
+    <!--   <parent>world</parent> -->
+    <!--   <axis> -->
+    <!--     <limit> -->
+    <!--       <lower>0</lower> -->
+    <!--       <upper>0</upper> -->
+    <!--     </limit> -->
+    <!--     <xyz>0 1 0</xyz> -->
+    <!--     <dynamics> -->
+    <!--       <damping>1.0</damping> -->
+    <!--     </dynamics> -->
+    <!--   </axis> -->
+    <!--   <physics> -->
+    <!--     <ode> -->
+    <!--       <cfm_damping>1</cfm_damping> -->
+    <!--     </ode> -->
+    <!--   </physics> -->
+    <!-- </joint> -->
+  </model>
+</sdf>
diff --git a/environment_models/room73b2/model.urdf b/environment_models/room73b2/model.urdf
new file mode 100644
index 00000000..b60404ee
--- /dev/null
+++ b/environment_models/room73b2/model.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0'?>
+<sdf version='1.3'>
+  <model name='room73b2'>
+    <static>false</static>
+    <link name='room73b2'>
+      <pose>0 0 0.07 0 0 0</pose>
+
+      <inertial>
+        <pose>0 0 0.15 0 0 0</pose>
+        <mass>3.0</mass>
+        <inertia>
+          <ixx>0.0601875</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0601875</iyy>
+          <iyz>0</iyz>
+          <izz>0.120225</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://room73b2/meshes/room73b2.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="default">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://room73b2/meshes/room73b2.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material> -->
+        <!--   <script> -->
+        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
+        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
+        <!--   </script> -->
+        <!-- </material> -->
+      </visual>
+    </link>
+
+    <!-- <joint name="world_joint" type="revolute"> -->
+    <!--   <child>pipe</child> -->
+    <!--   <parent>world</parent> -->
+    <!--   <axis> -->
+    <!--     <limit> -->
+    <!--       <lower>0</lower> -->
+    <!--       <upper>0</upper> -->
+    <!--     </limit> -->
+    <!--     <xyz>0 1 0</xyz> -->
+    <!--     <dynamics> -->
+    <!--       <damping>1.0</damping> -->
+    <!--     </dynamics> -->
+    <!--   </axis> -->
+    <!--   <physics> -->
+    <!--     <ode> -->
+    <!--       <cfm_damping>1</cfm_damping> -->
+    <!--     </ode> -->
+    <!--   </physics> -->
+    <!-- </joint> -->
+  </model>
+</sdf>

From 6f02530ddb90dfdba6a0ce65bc18ffaffcd1ad43 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 31 Jul 2013 11:14:21 +0000
Subject: [PATCH 011/306] added other models for gazebo

---
 environment_models/broom/meshes/broom.dae    | 98 --------------------
 environment_models/broom/meshes/cupboard.dae | 98 ++++++++++++++++++++
 2 files changed, 98 insertions(+), 98 deletions(-)
 delete mode 100644 environment_models/broom/meshes/broom.dae
 create mode 100644 environment_models/broom/meshes/cupboard.dae

diff --git a/environment_models/broom/meshes/broom.dae b/environment_models/broom/meshes/broom.dae
deleted file mode 100644
index 1c3c8a05..00000000
--- a/environment_models/broom/meshes/broom.dae
+++ /dev/null
@@ -1,98 +0,0 @@
-<?xml version="1.0"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Someone</author>
-      <authoring_tool>Assimp Collada Exporter</authoring_tool>
-    </contributor>
-    <created>2000-01-01T23:59:59</created>
-    <modified>2000-01-01T23:59:59</modified>
-    <unit name="meter" meter="1.0" />
-    <up_axis>Y_UP</up_axis>
-  </asset>
-  <library_effects>
-    <effect id="m0eusassimp_mat_0-fx" name="m0eusassimp_mat_0">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0   0   0   0</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0.4   0.2   0.2   1.0</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.8   0.8   0.8   1.0</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0   0   0   0</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">16</float>
-            </shininess>
-            <reflective>
-              <color sid="reflective">0   0   0   0</color>
-            </reflective>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="m0eusassimp_mat_0" name="m0eusassimp_mat_0">
-      <instance_effect url="#m0eusassimp_mat_0-fx"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="meshId0" name="meshId0_name" >
-      <mesh>
-        <source id="meshId0-positions" name="meshId0-positions">
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diff --git a/environment_models/broom/meshes/cupboard.dae b/environment_models/broom/meshes/cupboard.dae
new file mode 100644
index 00000000..3fe2f725
--- /dev/null
+++ b/environment_models/broom/meshes/cupboard.dae
@@ -0,0 +1,98 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Z_UP</up_axis>
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+            </ambient>
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+              <color sid="reflective">0   0   0   0</color>
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+        </technique>
+      </profile_COMMON>
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+  </library_effects>
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+          <technique_common>
+            <accessor count="288" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor count="288" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="96" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="eus_glvertices" name="eus_glvertices">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="theresonlyone" target="#m0eusassimp_mat_0" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>

From d9529d5036d1c1805d7d018ac93a24e6db98ac13 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 31 Jul 2013 11:22:20 +0000
Subject: [PATCH 012/306] deleted broom model

---
 environment_models/broom/meshes/cupboard.dae | 98 --------------------
 environment_models/broom/model.config        | 13 ---
 environment_models/broom/model.sdf           | 66 -------------
 environment_models/broom/model.urdf          | 66 -------------
 4 files changed, 243 deletions(-)
 delete mode 100644 environment_models/broom/meshes/cupboard.dae
 delete mode 100644 environment_models/broom/model.config
 delete mode 100644 environment_models/broom/model.sdf
 delete mode 100644 environment_models/broom/model.urdf

diff --git a/environment_models/broom/meshes/cupboard.dae b/environment_models/broom/meshes/cupboard.dae
deleted file mode 100644
index 3fe2f725..00000000
--- a/environment_models/broom/meshes/cupboard.dae
+++ /dev/null
@@ -1,98 +0,0 @@
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-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Someone</author>
-      <authoring_tool>Assimp Collada Exporter</authoring_tool>
-    </contributor>
-    <created>2000-01-01T23:59:59</created>
-    <modified>2000-01-01T23:59:59</modified>
-    <unit name="meter" meter="1.0" />
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_effects>
-    <effect id="m0eusassimp_mat_0-fx" name="m0eusassimp_mat_0">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0   0   0   0</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0.4   0.2   0.2   1.0</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.8   0.8   0.8   1.0</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0   0   0   0</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">16</float>
-            </shininess>
-            <reflective>
-              <color sid="reflective">0   0   0   0</color>
-            </reflective>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="m0eusassimp_mat_0" name="m0eusassimp_mat_0">
-      <instance_effect url="#m0eusassimp_mat_0-fx"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="meshId0" name="meshId0_name" >
-      <mesh>
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-          <technique_common>
-            <accessor count="288" offset="0" source="#meshId0-positions-array" stride="3">
-              <param name="X" type="float" />
-              <param name="Y" type="float" />
-              <param name="Z" type="float" />
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="meshId0-normals" name="meshId0-normals">
-          <float_array id="meshId0-normals-array" count="864"> 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 </float_array>
-          <technique_common>
-            <accessor count="288" offset="0" source="#meshId0-normals-array" stride="3">
-              <param name="X" type="float" />
-              <param name="Y" type="float" />
-              <param name="Z" type="float" />
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="meshId0-vertices">
-          <input semantic="POSITION" source="#meshId0-positions" />
-          <input semantic="NORMAL" source="#meshId0-normals" />
-        </vertices>
-        <polylist count="96" material="theresonlyone">
-          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
-          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
-          <p>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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 </p>
-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="myScene" name="myScene">
-      <node id="eus_glvertices" name="eus_glvertices">
-        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#meshId0">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="theresonlyone" target="#m0eusassimp_mat_0" />
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#myScene" />
-  </scene>
-</COLLADA>
diff --git a/environment_models/broom/model.config b/environment_models/broom/model.config
deleted file mode 100644
index feb7e577..00000000
--- a/environment_models/broom/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>Broom</name>
-  <version>0.1.0</version>
-  <sdf version='1.3'>model.sdf</sdf>
-  <author>
-    <name>Nate Koenig</name>
-    <email>nate@osrfoundation.org</email>
-  </author>
-  <description>
-     A model for a broom.
-  </description>
-</model>
diff --git a/environment_models/broom/model.sdf b/environment_models/broom/model.sdf
deleted file mode 100644
index c2d7cb65..00000000
--- a/environment_models/broom/model.sdf
+++ /dev/null
@@ -1,66 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.3'>
-  <model name='broom'>
-    <static>false</static>
-    <link name='broom'>
-      <pose>0 0 0.07 0 0 0</pose>
-
-      <inertial>
-        <pose>0 0 0.15 0 0 0</pose>
-        <mass>3.0</mass>
-        <inertia>
-          <ixx>0.0601875</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0601875</iyy>
-          <iyz>0</iyz>
-          <izz>0.120225</izz>
-        </inertia>
-      </inertial>
-
-      <collision name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://broom/meshes/broom.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://broom/meshes/broom.dae</uri>
-          </mesh>
-        </geometry>
-        <!-- <material> -->
-        <!--   <script> -->
-        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
-        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
-        <!--   </script> -->
-        <!-- </material> -->
-      </visual>
-    </link>
-
-    <!-- <joint name="world_joint" type="revolute"> -->
-    <!--   <child>pipe</child> -->
-    <!--   <parent>world</parent> -->
-    <!--   <axis> -->
-    <!--     <limit> -->
-    <!--       <lower>0</lower> -->
-    <!--       <upper>0</upper> -->
-    <!--     </limit> -->
-    <!--     <xyz>0 1 0</xyz> -->
-    <!--     <dynamics> -->
-    <!--       <damping>1.0</damping> -->
-    <!--     </dynamics> -->
-    <!--   </axis> -->
-    <!--   <physics> -->
-    <!--     <ode> -->
-    <!--       <cfm_damping>1</cfm_damping> -->
-    <!--     </ode> -->
-    <!--   </physics> -->
-    <!-- </joint> -->
-  </model>
-</sdf>
diff --git a/environment_models/broom/model.urdf b/environment_models/broom/model.urdf
deleted file mode 100644
index c2d7cb65..00000000
--- a/environment_models/broom/model.urdf
+++ /dev/null
@@ -1,66 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.3'>
-  <model name='broom'>
-    <static>false</static>
-    <link name='broom'>
-      <pose>0 0 0.07 0 0 0</pose>
-
-      <inertial>
-        <pose>0 0 0.15 0 0 0</pose>
-        <mass>3.0</mass>
-        <inertia>
-          <ixx>0.0601875</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0601875</iyy>
-          <iyz>0</iyz>
-          <izz>0.120225</izz>
-        </inertia>
-      </inertial>
-
-      <collision name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://broom/meshes/broom.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://broom/meshes/broom.dae</uri>
-          </mesh>
-        </geometry>
-        <!-- <material> -->
-        <!--   <script> -->
-        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
-        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
-        <!--   </script> -->
-        <!-- </material> -->
-      </visual>
-    </link>
-
-    <!-- <joint name="world_joint" type="revolute"> -->
-    <!--   <child>pipe</child> -->
-    <!--   <parent>world</parent> -->
-    <!--   <axis> -->
-    <!--     <limit> -->
-    <!--       <lower>0</lower> -->
-    <!--       <upper>0</upper> -->
-    <!--     </limit> -->
-    <!--     <xyz>0 1 0</xyz> -->
-    <!--     <dynamics> -->
-    <!--       <damping>1.0</damping> -->
-    <!--     </dynamics> -->
-    <!--   </axis> -->
-    <!--   <physics> -->
-    <!--     <ode> -->
-    <!--       <cfm_damping>1</cfm_damping> -->
-    <!--     </ode> -->
-    <!--   </physics> -->
-    <!-- </joint> -->
-  </model>
-</sdf>

From e9a00a2c37e688b77adf62f725aaf65b1edc08da Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 1 Aug 2013 06:40:28 +0000
Subject: [PATCH 013/306] deleted sdf files for gazebo, only urdf is necessary.

---
 environment_models/cupboard/model.config |  9 +---
 environment_models/cupboard/model.sdf    | 66 ------------------------
 environment_models/room73b2/model.config |  9 +---
 environment_models/room73b2/model.sdf    | 66 ------------------------
 4 files changed, 2 insertions(+), 148 deletions(-)
 delete mode 100644 environment_models/cupboard/model.sdf
 delete mode 100644 environment_models/room73b2/model.sdf

diff --git a/environment_models/cupboard/model.config b/environment_models/cupboard/model.config
index 5cd4b935..9e89289e 100644
--- a/environment_models/cupboard/model.config
+++ b/environment_models/cupboard/model.config
@@ -2,12 +2,5 @@
 <model>
   <name>Cupboard</name>
   <version>0.1.0</version>
-  <sdf version='1.3'>model.sdf</sdf>
-  <author>
-    <name>Nate Koenig</name>
-    <email>nate@osrfoundation.org</email>
-  </author>
-  <description>
-     A model for a circular cupboard.
-  </description>
+  <sdf>model.urdf</sdf>
 </model>
diff --git a/environment_models/cupboard/model.sdf b/environment_models/cupboard/model.sdf
deleted file mode 100644
index 28aa7d0f..00000000
--- a/environment_models/cupboard/model.sdf
+++ /dev/null
@@ -1,66 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.3'>
-  <model name='cupboard'>
-    <static>false</static>
-    <link name='cupboard'>
-      <pose>0 0 0.07 0 0 0</pose>
-
-      <inertial>
-        <pose>0 0 0.15 0 0 0</pose>
-        <mass>3.0</mass>
-        <inertia>
-          <ixx>0.0601875</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0601875</iyy>
-          <iyz>0</iyz>
-          <izz>0.120225</izz>
-        </inertia>
-      </inertial>
-
-      <collision name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://cupboard/meshes/cupboard.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://cupboard/meshes/cupboard.dae</uri>
-          </mesh>
-        </geometry>
-        <!-- <material> -->
-        <!--   <script> -->
-        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
-        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
-        <!--   </script> -->
-        <!-- </material> -->
-      </visual>
-    </link>
-
-    <!-- <joint name="world_joint" type="revolute"> -->
-    <!--   <child>pipe</child> -->
-    <!--   <parent>world</parent> -->
-    <!--   <axis> -->
-    <!--     <limit> -->
-    <!--       <lower>0</lower> -->
-    <!--       <upper>0</upper> -->
-    <!--     </limit> -->
-    <!--     <xyz>0 1 0</xyz> -->
-    <!--     <dynamics> -->
-    <!--       <damping>1.0</damping> -->
-    <!--     </dynamics> -->
-    <!--   </axis> -->
-    <!--   <physics> -->
-    <!--     <ode> -->
-    <!--       <cfm_damping>1</cfm_damping> -->
-    <!--     </ode> -->
-    <!--   </physics> -->
-    <!-- </joint> -->
-  </model>
-</sdf>
diff --git a/environment_models/room73b2/model.config b/environment_models/room73b2/model.config
index 2660bb0f..946db470 100644
--- a/environment_models/room73b2/model.config
+++ b/environment_models/room73b2/model.config
@@ -2,12 +2,5 @@
 <model>
   <name>Room73B2</name>
   <version>0.1.0</version>
-  <sdf version='1.3'>model.sdf</sdf>
-  <author>
-    <name>Nate Koenig</name>
-    <email>nate@osrfoundation.org</email>
-  </author>
-  <description>
-     A model for a Room73B2.
-  </description>
+  <sdf>model.urdf</sdf>
 </model>
diff --git a/environment_models/room73b2/model.sdf b/environment_models/room73b2/model.sdf
deleted file mode 100644
index b60404ee..00000000
--- a/environment_models/room73b2/model.sdf
+++ /dev/null
@@ -1,66 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.3'>
-  <model name='room73b2'>
-    <static>false</static>
-    <link name='room73b2'>
-      <pose>0 0 0.07 0 0 0</pose>
-
-      <inertial>
-        <pose>0 0 0.15 0 0 0</pose>
-        <mass>3.0</mass>
-        <inertia>
-          <ixx>0.0601875</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0601875</iyy>
-          <iyz>0</iyz>
-          <izz>0.120225</izz>
-        </inertia>
-      </inertial>
-
-      <collision name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://room73b2/meshes/room73b2.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://room73b2/meshes/room73b2.dae</uri>
-          </mesh>
-        </geometry>
-        <!-- <material> -->
-        <!--   <script> -->
-        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
-        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
-        <!--   </script> -->
-        <!-- </material> -->
-      </visual>
-    </link>
-
-    <!-- <joint name="world_joint" type="revolute"> -->
-    <!--   <child>pipe</child> -->
-    <!--   <parent>world</parent> -->
-    <!--   <axis> -->
-    <!--     <limit> -->
-    <!--       <lower>0</lower> -->
-    <!--       <upper>0</upper> -->
-    <!--     </limit> -->
-    <!--     <xyz>0 1 0</xyz> -->
-    <!--     <dynamics> -->
-    <!--       <damping>1.0</damping> -->
-    <!--     </dynamics> -->
-    <!--   </axis> -->
-    <!--   <physics> -->
-    <!--     <ode> -->
-    <!--       <cfm_damping>1</cfm_damping> -->
-    <!--     </ode> -->
-    <!--   </physics> -->
-    <!-- </joint> -->
-  </model>
-</sdf>

From 406f963225e86bc5cfe9dcb61f8c27508b0baf36 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 1 Aug 2013 08:14:55 +0000
Subject: [PATCH 014/306] changed format of cupboard model.urdf

---
 environment_models/cupboard/model.urdf | 100 +++++++++----------------
 1 file changed, 34 insertions(+), 66 deletions(-)

diff --git a/environment_models/cupboard/model.urdf b/environment_models/cupboard/model.urdf
index 28aa7d0f..e22f070d 100644
--- a/environment_models/cupboard/model.urdf
+++ b/environment_models/cupboard/model.urdf
@@ -1,66 +1,34 @@
-<?xml version='1.0'?>
-<sdf version='1.3'>
-  <model name='cupboard'>
-    <static>false</static>
-    <link name='cupboard'>
-      <pose>0 0 0.07 0 0 0</pose>
-
-      <inertial>
-        <pose>0 0 0.15 0 0 0</pose>
-        <mass>3.0</mass>
-        <inertia>
-          <ixx>0.0601875</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0601875</iyy>
-          <iyz>0</iyz>
-          <izz>0.120225</izz>
-        </inertia>
-      </inertial>
-
-      <collision name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://cupboard/meshes/cupboard.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://cupboard/meshes/cupboard.dae</uri>
-          </mesh>
-        </geometry>
-        <!-- <material> -->
-        <!--   <script> -->
-        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
-        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
-        <!--   </script> -->
-        <!-- </material> -->
-      </visual>
-    </link>
-
-    <!-- <joint name="world_joint" type="revolute"> -->
-    <!--   <child>pipe</child> -->
-    <!--   <parent>world</parent> -->
-    <!--   <axis> -->
-    <!--     <limit> -->
-    <!--       <lower>0</lower> -->
-    <!--       <upper>0</upper> -->
-    <!--     </limit> -->
-    <!--     <xyz>0 1 0</xyz> -->
-    <!--     <dynamics> -->
-    <!--       <damping>1.0</damping> -->
-    <!--     </dynamics> -->
-    <!--   </axis> -->
-    <!--   <physics> -->
-    <!--     <ode> -->
-    <!--       <cfm_damping>1</cfm_damping> -->
-    <!--     </ode> -->
-    <!--   </physics> -->
-    <!-- </joint> -->
-  </model>
-</sdf>
+<?xml version="1.0"?>
+<robot name="cupboard"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <link name="BODY">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/cupboard.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/cupboard.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 1" rpy="0 0 0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+</robot>

From 56ff154dc03d69fe8594bb65f978ddab3b81c01b Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 1 Aug 2013 17:05:10 +0000
Subject: [PATCH 015/306] add scripts for converting eusmodel to urdf

---
 scripts/eus2urdf-for-gazebo.l           | 10 ++++++
 scripts/eus2urdf_for_gazebo_pyscript.py | 47 +++++++++++++++++++++++++
 2 files changed, 57 insertions(+)
 create mode 100644 scripts/eus2urdf-for-gazebo.l
 create mode 100755 scripts/eus2urdf_for_gazebo_pyscript.py

diff --git a/scripts/eus2urdf-for-gazebo.l b/scripts/eus2urdf-for-gazebo.l
new file mode 100644
index 00000000..0c99b97c
--- /dev/null
+++ b/scripts/eus2urdf-for-gazebo.l
@@ -0,0 +1,10 @@
+(defun eus2urdf-for-gazebo (obj &optional name)
+  (let* ((model-name (string-downcase (or name (send obj :name))))
+	 (tmp-dir "/tmp"))
+    ;; 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) \"hoge\"~%")
diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
new file mode 100755
index 00000000..95549ed7
--- /dev/null
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -0,0 +1,47 @@
+#! /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 -r %s" % urdf_dir_path)
+    else:
+        print "[eu2urdf] check if the same name model already exits"
+        if os.path.exists(urdf_dir_path):
+            print '[ERROR eu2urdf] the same name model already exits'
+            exit(1)
+
+    print "[eu2urdf] make directory for urdf"
+    os.mkdir(urdf_dir_path)
+
+    add_line_string = '\<uri\>file://%s\</uri\>' % name
+    manifest_path = '%s/../manifest.xml' % urdf_dir_path
+    print "grep %s %s" % (add_line_string, manifest_path)
+    print (commands.getoutput("grep %s %s" % (add_line_string, manifest_path)))
+    if len(commands.getoutput("grep %s %s" % (add_line_string, manifest_path))) == 0:
+        print "[eu2urdf] add file path to manifest.xml"
+        os.system('sed -i -e \"s@  </models>@    %s\\n  </models>@g\" %s' % (add_line_string, manifest_path))
+
+    print "[eu2urdf] make model.config in urdf directory"
+    config_path = '%s/model.config' % urdf_dir_path
+    os.system('echo "<?xml version=\'1.0\'?>\n<model>\n  <name>%s</name>\n  <version>0.1.0</version>\n  <sdf>model.urdf</sdf>\n</model>\n" > %s' % (name, config_path))
+
+    print "[eu2urdf] 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_tools 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)
+
+    print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
+    os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\" />\\n      <origin xyz=\\\"0 0 1\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
+
+
+
+if __name__ == '__main__':
+    if len(sys.argv) > 2:
+        eus2urdf_for_gazebo_pyscript(sys.argv[1], sys.argv[2])

From 6c92b911e90c89a74abb2f9b1a7c230cc8962676 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 2 Aug 2013 03:12:20 +0000
Subject: [PATCH 016/306] added hrpsys_gazebo_tutorials/euslisp

---
 .../hrpsys-gazebo-utils.l                            | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)
 rename scripts/eus2urdf-for-gazebo.l => euslisp/hrpsys-gazebo-utils.l (78%)

diff --git a/scripts/eus2urdf-for-gazebo.l b/euslisp/hrpsys-gazebo-utils.l
similarity index 78%
rename from scripts/eus2urdf-for-gazebo.l
rename to euslisp/hrpsys-gazebo-utils.l
index 0c99b97c..6924185f 100644
--- a/scripts/eus2urdf-for-gazebo.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -1,3 +1,8 @@
+#-: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"))
@@ -5,6 +10,7 @@
     (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) \"hoge\"~%")
+    ))
+(warn "(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%")
+
+

From 941fa5659d24b2dd5df7f1e5e010c1fc8b91e2f0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 2 Aug 2013 03:13:15 +0000
Subject: [PATCH 017/306] deleted environment_model room73b2

---
 environment_models/manifest.xml               |  1 -
 .../room73b2/meshes/room73b2.dae              | 98 -------------------
 environment_models/room73b2/model.config      |  6 --
 environment_models/room73b2/model.urdf        | 66 -------------
 4 files changed, 171 deletions(-)
 delete mode 100644 environment_models/room73b2/meshes/room73b2.dae
 delete mode 100644 environment_models/room73b2/model.config
 delete mode 100644 environment_models/room73b2/model.urdf

diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index ccd1eaca..9548d484 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -5,7 +5,6 @@
 
   <models>
     <uri>file://cupboard</uri>
-    <uri>file://broom</uri>
     <uri>file://room73b2</uri>
   </models>
 </database>
diff --git a/environment_models/room73b2/meshes/room73b2.dae b/environment_models/room73b2/meshes/room73b2.dae
deleted file mode 100644
index 33905039..00000000
--- a/environment_models/room73b2/meshes/room73b2.dae
+++ /dev/null
@@ -1,98 +0,0 @@
-<?xml version="1.0"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Someone</author>
-      <authoring_tool>Assimp Collada Exporter</authoring_tool>
-    </contributor>
-    <created>2000-01-01T23:59:59</created>
-    <modified>2000-01-01T23:59:59</modified>
-    <unit name="meter" meter="1.0" />
-    <up_axis>Y_UP</up_axis>
-  </asset>
-  <library_effects>
-    <effect id="m0eusassimp_mat_0-fx" name="m0eusassimp_mat_0">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0   0   0   0</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0.4   0.2   0.2   1.0</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.8   0.8   0.8   1.0</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0   0   0   0</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">16</float>
-            </shininess>
-            <reflective>
-              <color sid="reflective">0   0   0   0</color>
-            </reflective>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="m0eusassimp_mat_0" name="m0eusassimp_mat_0">
-      <instance_effect url="#m0eusassimp_mat_0-fx"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="meshId0" name="meshId0_name" >
-      <mesh>
-        <source id="meshId0-positions" name="meshId0-positions">
-          <float_array id="meshId0-positions-array" count="208440"> -0.0005 4.3345 0 11.9145 -3.4505 0 11.9145 4.3345 0 11.9145 -3.4505 0 -0.0005 4.3345 0 -0.0005 -3.4505 0 11.9145 4.3345 -0.01 -0.0005 -3.4505 -0.01 -0.0005 4.3345 -0.01 -0.0005 -3.4505 -0.01 11.9145 4.3345 -0.01 11.9145 -3.4505 -0.01 11.9145 4.3345 -0.01 -0.0005 4.3345 0 11.9145 4.3345 0 -0.0005 4.3345 0 11.9145 4.3345 -0.01 -0.0005 4.3345 -0.01 11.9145 -3.4505 -0.01 11.9145 4.3345 0 11.9145 -3.4505 0 11.9145 4.3345 0 11.9145 -3.4505 -0.01 11.9145 4.3345 -0.01 -0.0005 -3.4505 -0.01 11.9145 -3.4505 0 -0.0005 -3.4505 0 11.9145 -3.4505 0 -0.0005 -3.4505 -0.01 11.9145 -3.4505 -0.01 -0.0005 4.3345 -0.01 -0.0005 -3.4505 0 -0.0005 4.3345 0 -0.0005 -3.4505 0 -0.0005 4.3345 -0.01 -0.0005 -3.4505 -0.01 9.37 -2.15 2.15 9.82 -1.7 2.15 9.37 -1.7 2.15 9.82 -1.7 2.15 9.37 -2.15 2.15 9.82 -2.15 2.15 9.37 -1.7 2.13 9.82 -2.15 2.13 9.37 -2.15 2.13 9.82 -2.15 2.13 9.37 -1.7 2.13 9.82 -1.7 2.13 9.37 -1.7 2.13 9.37 -2.15 2.15 9.37 -1.7 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3.2245 0.82 0.371107 3.23025 0.82 0.4 3.3 0.82 0.371107 3.23025 0.82 0.346613 3.24661 0.82 0.4 3.3 0.82 0.346613 3.24661 0.82 0.330247 3.27111 0.82 0.4 3.3 0.82 0.330247 3.27111 0.82 0.3245 3.3 0.82 0.4 3.3 0.82 0.330247 3.32889 0.82 0.3195 3.3 0.82 0.325628 3.33081 0.82 0.3195 3.3 0.82 0.330247 3.32889 0.82 0.3245 3.3 0.82 0.346613 3.35339 0.82 0.325628 3.33081 0.82 0.343078 3.35692 0.82 0.325628 3.33081 0.82 0.346613 3.35339 0.82 0.330247 3.32889 0.82 0.371107 3.36975 0.82 0.343078 3.35692 0.82 0.369194 3.37437 0.82 0.343078 3.35692 0.82 0.371107 3.36975 0.82 0.346613 3.35339 0.82 0.4 3.3755 0.82 0.369194 3.37437 0.82 0.4 3.3805 0.82 0.369194 3.37437 0.82 0.4 3.3755 0.82 0.371107 3.36975 0.82 0.428893 3.36975 0.82 0.4 3.3805 0.82 0.430806 3.37437 0.82 0.4 3.3805 0.82 0.428893 3.36975 0.82 0.4 3.3755 0.82 0.453387 3.35339 0.82 0.430806 3.37437 0.82 0.456922 3.35692 0.82 0.430806 3.37437 0.82 0.453387 3.35339 0.82 0.428893 3.36975 0.82 0.469753 3.32889 0.82 0.456922 3.35692 0.82 0.474372 3.33081 0.82 0.456922 3.35692 0.82 0.469753 3.32889 0.82 0.453387 3.35339 0.82 0.4755 3.3 0.82 0.474372 3.33081 0.82 0.4805 3.3 0.82 0.474372 3.33081 0.82 0.4755 3.3 0.82 0.469753 3.32889 0.82 0.469753 3.27111 0.82 0.4805 3.3 0.82 0.474372 3.26919 0.82 0.4805 3.3 0.82 0.469753 3.27111 0.82 0.4755 3.3 0.82 0.453387 3.24661 0.82 0.474372 3.26919 0.82 0.456922 3.24308 0.82 0.474372 3.26919 0.82 0.453387 3.24661 0.82 0.469753 3.27111 0.82 0.428893 3.23025 0.82 0.456922 3.24308 0.82 0.430806 3.22563 0.82 0.456922 3.24308 0.82 0.428893 3.23025 0.82 0.453387 3.24661 0.82 0.4 3.2245 0.82 0.430806 3.22563 0.82 0.4 3.2195 0.82 0.430806 3.22563 0.82 0.4 3.2245 0.82 0.428893 3.23025 0.82 0.371107 3.23025 0.82 0.4 3.2195 0.82 0.369194 3.22563 0.82 0.4 3.2195 0.82 0.371107 3.23025 0.82 0.4 3.2245 0.82 0.346613 3.24661 0.82 0.369194 3.22563 0.82 0.343078 3.24308 0.82 0.369194 3.22563 0.82 0.346613 3.24661 0.82 0.371107 3.23025 0.82 0.330247 3.27111 0.82 0.343078 3.24308 0.82 0.325628 3.26919 0.82 0.343078 3.24308 0.82 0.330247 3.27111 0.82 0.346613 3.24661 0.82 0.3245 3.3 0.82 0.325628 3.26919 0.82 0.3195 3.3 0.82 0.325628 3.26919 0.82 0.3245 3.3 0.82 0.330247 3.27111 0.82 0.325628 3.33081 0.82 0.308839 3.3 0.821689 0.315778 3.33489 0.821689 0.308839 3.3 0.821689 0.325628 3.33081 0.82 0.3195 3.3 0.82 0.343078 3.35692 0.82 0.315778 3.33489 0.821689 0.335539 3.36446 0.821689 0.315778 3.33489 0.821689 0.343078 3.35692 0.82 0.325628 3.33081 0.82 0.369194 3.37437 0.82 0.335539 3.36446 0.821689 0.365114 3.38422 0.821689 0.335539 3.36446 0.821689 0.369194 3.37437 0.82 0.343078 3.35692 0.82 0.4 3.3805 0.82 0.365114 3.38422 0.821689 0.4 3.39116 0.821689 0.365114 3.38422 0.821689 0.4 3.3805 0.82 0.369194 3.37437 0.82 0.430806 3.37437 0.82 0.4 3.39116 0.821689 0.434886 3.38422 0.821689 0.4 3.39116 0.821689 0.430806 3.37437 0.82 0.4 3.3805 0.82 0.456922 3.35692 0.82 0.434886 3.38422 0.821689 0.464461 3.36446 0.821689 0.434886 3.38422 0.821689 0.456922 3.35692 0.82 0.430806 3.37437 0.82 0.474372 3.33081 0.82 0.464461 3.36446 0.821689 0.484222 3.33489 0.821689 0.464461 3.36446 0.821689 0.474372 3.33081 0.82 0.456922 3.35692 0.82 0.4805 3.3 0.82 0.484222 3.33489 0.821689 0.491161 3.3 0.821689 0.484222 3.33489 0.821689 0.4805 3.3 0.82 0.474372 3.33081 0.82 0.474372 3.26919 0.82 0.491161 3.3 0.821689 0.484222 3.26511 0.821689 0.491161 3.3 0.821689 0.474372 3.26919 0.82 0.4805 3.3 0.82 0.456922 3.24308 0.82 0.484222 3.26511 0.821689 0.464461 3.23554 0.821689 0.484222 3.26511 0.821689 0.456922 3.24308 0.82 0.474372 3.26919 0.82 0.430806 3.22563 0.82 0.464461 3.23554 0.821689 0.434886 3.21578 0.821689 0.464461 3.23554 0.821689 0.430806 3.22563 0.82 0.456922 3.24308 0.82 0.4 3.2195 0.82 0.434886 3.21578 0.821689 0.4 3.20884 0.821689 0.434886 3.21578 0.821689 0.4 3.2195 0.82 0.430806 3.22563 0.82 0.369194 3.22563 0.82 0.4 3.20884 0.821689 0.365114 3.21578 0.821689 0.4 3.20884 0.821689 0.369194 3.22563 0.82 0.4 3.2195 0.82 0.343078 3.24308 0.82 0.365114 3.21578 0.821689 0.335539 3.23554 0.821689 0.365114 3.21578 0.821689 0.343078 3.24308 0.82 0.369194 3.22563 0.82 0.325628 3.26919 0.82 0.335539 3.23554 0.821689 0.315778 3.26511 0.821689 0.335539 3.23554 0.821689 0.325628 3.26919 0.82 0.343078 3.24308 0.82 0.3195 3.3 0.82 0.315778 3.26511 0.821689 0.308839 3.3 0.821689 0.315778 3.26511 0.821689 0.3195 3.3 0.82 0.325628 3.26919 0.82 0.315778 3.33489 0.821689 0.299221 3.3 0.826589 0.306893 3.33857 0.826589 0.299221 3.3 0.826589 0.315778 3.33489 0.821689 0.308839 3.3 0.821689 0.335539 3.36446 0.821689 0.306893 3.33857 0.826589 0.328739 3.37126 0.826589 0.306893 3.33857 0.826589 0.335539 3.36446 0.821689 0.315778 3.33489 0.821689 0.365114 3.38422 0.821689 0.328739 3.37126 0.826589 0.361434 3.39311 0.826589 0.328739 3.37126 0.826589 0.365114 3.38422 0.821689 0.335539 3.36446 0.821689 0.4 3.39116 0.821689 0.361434 3.39311 0.826589 0.4 3.40078 0.826589 0.361434 3.39311 0.826589 0.4 3.39116 0.821689 0.365114 3.38422 0.821689 0.434886 3.38422 0.821689 0.4 3.40078 0.826589 0.438566 3.39311 0.826589 0.4 3.40078 0.826589 0.434886 3.38422 0.821689 0.4 3.39116 0.821689 0.464461 3.36446 0.821689 0.438566 3.39311 0.826589 0.471261 3.37126 0.826589 0.438566 3.39311 0.826589 0.464461 3.36446 0.821689 0.434886 3.38422 0.821689 0.484222 3.33489 0.821689 0.471261 3.37126 0.826589 0.493107 3.33857 0.826589 0.471261 3.37126 0.826589 0.484222 3.33489 0.821689 0.464461 3.36446 0.821689 0.491161 3.3 0.821689 0.493107 3.33857 0.826589 0.500779 3.3 0.826589 0.493107 3.33857 0.826589 0.491161 3.3 0.821689 0.484222 3.33489 0.821689 0.484222 3.26511 0.821689 0.500779 3.3 0.826589 0.493107 3.26143 0.826589 0.500779 3.3 0.826589 0.484222 3.26511 0.821689 0.491161 3.3 0.821689 0.464461 3.23554 0.821689 0.493107 3.26143 0.826589 0.471261 3.22874 0.826589 0.493107 3.26143 0.826589 0.464461 3.23554 0.821689 0.484222 3.26511 0.821689 0.434886 3.21578 0.821689 0.471261 3.22874 0.826589 0.438566 3.20689 0.826589 0.471261 3.22874 0.826589 0.434886 3.21578 0.821689 0.464461 3.23554 0.821689 0.4 3.20884 0.821689 0.438566 3.20689 0.826589 0.4 3.19922 0.826589 0.438566 3.20689 0.826589 0.4 3.20884 0.821689 0.434886 3.21578 0.821689 0.365114 3.21578 0.821689 0.4 3.19922 0.826589 0.361434 3.20689 0.826589 0.4 3.19922 0.826589 0.365114 3.21578 0.821689 0.4 3.20884 0.821689 0.335539 3.23554 0.821689 0.361434 3.20689 0.826589 0.328739 3.22874 0.826589 0.361434 3.20689 0.826589 0.335539 3.23554 0.821689 0.365114 3.21578 0.821689 0.315778 3.26511 0.821689 0.328739 3.22874 0.826589 0.306893 3.26143 0.826589 0.328739 3.22874 0.826589 0.315778 3.26511 0.821689 0.335539 3.23554 0.821689 0.308839 3.3 0.821689 0.306893 3.26143 0.826589 0.299221 3.3 0.826589 0.306893 3.26143 0.826589 0.308839 3.3 0.821689 0.315778 3.26511 0.821689 0.306893 3.33857 0.826589 0.291589 3.3 0.834221 0.299841 3.34149 0.834221 0.291589 3.3 0.834221 0.306893 3.33857 0.826589 0.299221 3.3 0.826589 0.328739 3.37126 0.826589 0.299841 3.34149 0.834221 0.323342 3.37666 0.834221 0.299841 3.34149 0.834221 0.328739 3.37126 0.826589 0.306893 3.33857 0.826589 0.361434 3.39311 0.826589 0.323342 3.37666 0.834221 0.358513 3.40016 0.834221 0.323342 3.37666 0.834221 0.361434 3.39311 0.826589 0.328739 3.37126 0.826589 0.4 3.40078 0.826589 0.358513 3.40016 0.834221 0.4 3.40841 0.834221 0.358513 3.40016 0.834221 0.4 3.40078 0.826589 0.361434 3.39311 0.826589 0.438566 3.39311 0.826589 0.4 3.40841 0.834221 0.441487 3.40016 0.834221 0.4 3.40841 0.834221 0.438566 3.39311 0.826589 0.4 3.40078 0.826589 0.471261 3.37126 0.826589 0.441487 3.40016 0.834221 0.476658 3.37666 0.834221 0.441487 3.40016 0.834221 0.471261 3.37126 0.826589 0.438566 3.39311 0.826589 0.493107 3.33857 0.826589 0.476658 3.37666 0.834221 0.500159 3.34149 0.834221 0.476658 3.37666 0.834221 0.493107 3.33857 0.826589 0.471261 3.37126 0.826589 0.500779 3.3 0.826589 0.500159 3.34149 0.834221 0.508411 3.3 0.834221 0.500159 3.34149 0.834221 0.500779 3.3 0.826589 0.493107 3.33857 0.826589 0.493107 3.26143 0.826589 0.508411 3.3 0.834221 0.500159 3.25851 0.834221 0.508411 3.3 0.834221 0.493107 3.26143 0.826589 0.500779 3.3 0.826589 0.471261 3.22874 0.826589 0.500159 3.25851 0.834221 0.476658 3.22334 0.834221 0.500159 3.25851 0.834221 0.471261 3.22874 0.826589 0.493107 3.26143 0.826589 0.438566 3.20689 0.826589 0.476658 3.22334 0.834221 0.441487 3.19984 0.834221 0.476658 3.22334 0.834221 0.438566 3.20689 0.826589 0.471261 3.22874 0.826589 0.4 3.19922 0.826589 0.441487 3.19984 0.834221 0.4 3.19159 0.834221 0.441487 3.19984 0.834221 0.4 3.19922 0.826589 0.438566 3.20689 0.826589 0.361434 3.20689 0.826589 0.4 3.19159 0.834221 0.358513 3.19984 0.834221 0.4 3.19159 0.834221 0.361434 3.20689 0.826589 0.4 3.19922 0.826589 0.328739 3.22874 0.826589 0.358513 3.19984 0.834221 0.323342 3.22334 0.834221 0.358513 3.19984 0.834221 0.328739 3.22874 0.826589 0.361434 3.20689 0.826589 0.306893 3.26143 0.826589 0.323342 3.22334 0.834221 0.299841 3.25851 0.834221 0.323342 3.22334 0.834221 0.306893 3.26143 0.826589 0.328739 3.22874 0.826589 0.299221 3.3 0.826589 0.299841 3.25851 0.834221 0.291589 3.3 0.834221 0.299841 3.25851 0.834221 0.299221 3.3 0.826589 0.306893 3.26143 0.826589 0.299841 3.34149 0.834221 0.286689 3.3 0.843839 0.295314 3.34336 0.843839 0.286689 3.3 0.843839 0.299841 3.34149 0.834221 0.291589 3.3 0.834221 0.323342 3.37666 0.834221 0.295314 3.34336 0.843839 0.319877 3.38012 0.843839 0.295314 3.34336 0.843839 0.323342 3.37666 0.834221 0.299841 3.34149 0.834221 0.358513 3.40016 0.834221 0.319877 3.38012 0.843839 0.356638 3.40469 0.843839 0.319877 3.38012 0.843839 0.358513 3.40016 0.834221 0.323342 3.37666 0.834221 0.4 3.40841 0.834221 0.356638 3.40469 0.843839 0.4 3.41331 0.843839 0.356638 3.40469 0.843839 0.4 3.40841 0.834221 0.358513 3.40016 0.834221 0.441487 3.40016 0.834221 0.4 3.41331 0.843839 0.443362 3.40469 0.843839 0.4 3.41331 0.843839 0.441487 3.40016 0.834221 0.4 3.40841 0.834221 0.476658 3.37666 0.834221 0.443362 3.40469 0.843839 0.480123 3.38012 0.843839 0.443362 3.40469 0.843839 0.476658 3.37666 0.834221 0.441487 3.40016 0.834221 0.500159 3.34149 0.834221 0.480123 3.38012 0.843839 0.504686 3.34336 0.843839 0.480123 3.38012 0.843839 0.500159 3.34149 0.834221 0.476658 3.37666 0.834221 0.508411 3.3 0.834221 0.504686 3.34336 0.843839 0.513311 3.3 0.843839 0.504686 3.34336 0.843839 0.508411 3.3 0.834221 0.500159 3.34149 0.834221 0.500159 3.25851 0.834221 0.513311 3.3 0.843839 0.504686 3.25664 0.843839 0.513311 3.3 0.843839 0.500159 3.25851 0.834221 0.508411 3.3 0.834221 0.476658 3.22334 0.834221 0.504686 3.25664 0.843839 0.480123 3.21988 0.843839 0.504686 3.25664 0.843839 0.476658 3.22334 0.834221 0.500159 3.25851 0.834221 0.441487 3.19984 0.834221 0.480123 3.21988 0.843839 0.443362 3.19531 0.843839 0.480123 3.21988 0.843839 0.441487 3.19984 0.834221 0.476658 3.22334 0.834221 0.4 3.19159 0.834221 0.443362 3.19531 0.843839 0.4 3.18669 0.843839 0.443362 3.19531 0.843839 0.4 3.19159 0.834221 0.441487 3.19984 0.834221 0.358513 3.19984 0.834221 0.4 3.18669 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-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="myScene" name="myScene">
-      <node id="eus_glvertices" name="eus_glvertices">
-        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#meshId0">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="theresonlyone" target="#m0eusassimp_mat_0" />
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#myScene" />
-  </scene>
-</COLLADA>
diff --git a/environment_models/room73b2/model.config b/environment_models/room73b2/model.config
deleted file mode 100644
index 946db470..00000000
--- a/environment_models/room73b2/model.config
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>Room73B2</name>
-  <version>0.1.0</version>
-  <sdf>model.urdf</sdf>
-</model>
diff --git a/environment_models/room73b2/model.urdf b/environment_models/room73b2/model.urdf
deleted file mode 100644
index b60404ee..00000000
--- a/environment_models/room73b2/model.urdf
+++ /dev/null
@@ -1,66 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.3'>
-  <model name='room73b2'>
-    <static>false</static>
-    <link name='room73b2'>
-      <pose>0 0 0.07 0 0 0</pose>
-
-      <inertial>
-        <pose>0 0 0.15 0 0 0</pose>
-        <mass>3.0</mass>
-        <inertia>
-          <ixx>0.0601875</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0601875</iyy>
-          <iyz>0</iyz>
-          <izz>0.120225</izz>
-        </inertia>
-      </inertial>
-
-      <collision name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://room73b2/meshes/room73b2.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="default">
-        <pose>0 0 0.15 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://room73b2/meshes/room73b2.dae</uri>
-          </mesh>
-        </geometry>
-        <!-- <material> -->
-        <!--   <script> -->
-        <!--     <uri>model://vrc_valve/materials/scripts</uri> -->
-        <!--     <uri>model://vrc_valve/materials/textures</uri> -->
-        <!--   </script> -->
-        <!-- </material> -->
-      </visual>
-    </link>
-
-    <!-- <joint name="world_joint" type="revolute"> -->
-    <!--   <child>pipe</child> -->
-    <!--   <parent>world</parent> -->
-    <!--   <axis> -->
-    <!--     <limit> -->
-    <!--       <lower>0</lower> -->
-    <!--       <upper>0</upper> -->
-    <!--     </limit> -->
-    <!--     <xyz>0 1 0</xyz> -->
-    <!--     <dynamics> -->
-    <!--       <damping>1.0</damping> -->
-    <!--     </dynamics> -->
-    <!--   </axis> -->
-    <!--   <physics> -->
-    <!--     <ode> -->
-    <!--       <cfm_damping>1</cfm_damping> -->
-    <!--     </ode> -->
-    <!--   </physics> -->
-    <!-- </joint> -->
-  </model>
-</sdf>

From a0720bf819dcb4c6d40d0b3f52449061a4741b2f Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 2 Aug 2013 03:18:24 +0000
Subject: [PATCH 018/306] deleted old model for gazebo

---
 .../cupboard/meshes/cupboard.dae              | 98 -------------------
 environment_models/cupboard/model.config      |  6 --
 environment_models/cupboard/model.urdf        | 34 -------
 environment_models/manifest.xml               |  2 -
 4 files changed, 140 deletions(-)
 delete mode 100644 environment_models/cupboard/meshes/cupboard.dae
 delete mode 100644 environment_models/cupboard/model.config
 delete mode 100644 environment_models/cupboard/model.urdf

diff --git a/environment_models/cupboard/meshes/cupboard.dae b/environment_models/cupboard/meshes/cupboard.dae
deleted file mode 100644
index 3fe2f725..00000000
--- a/environment_models/cupboard/meshes/cupboard.dae
+++ /dev/null
@@ -1,98 +0,0 @@
-<?xml version="1.0"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Someone</author>
-      <authoring_tool>Assimp Collada Exporter</authoring_tool>
-    </contributor>
-    <created>2000-01-01T23:59:59</created>
-    <modified>2000-01-01T23:59:59</modified>
-    <unit name="meter" meter="1.0" />
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_effects>
-    <effect id="m0eusassimp_mat_0-fx" name="m0eusassimp_mat_0">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0   0   0   0</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0.4   0.2   0.2   1.0</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.8   0.8   0.8   1.0</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0   0   0   0</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">16</float>
-            </shininess>
-            <reflective>
-              <color sid="reflective">0   0   0   0</color>
-            </reflective>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="m0eusassimp_mat_0" name="m0eusassimp_mat_0">
-      <instance_effect url="#m0eusassimp_mat_0-fx"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="meshId0" name="meshId0_name" >
-      <mesh>
-        <source id="meshId0-positions" name="meshId0-positions">
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-          <technique_common>
-            <accessor count="288" offset="0" source="#meshId0-positions-array" stride="3">
-              <param name="X" type="float" />
-              <param name="Y" type="float" />
-              <param name="Z" type="float" />
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="meshId0-normals" name="meshId0-normals">
-          <float_array id="meshId0-normals-array" count="864"> 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 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 0 -1 0 0 -1 0 0 -1 0 0 -1 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 0 1 0 0 1 0 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 0 -1 0 0 -1 0 0 </float_array>
-          <technique_common>
-            <accessor count="288" offset="0" source="#meshId0-normals-array" stride="3">
-              <param name="X" type="float" />
-              <param name="Y" type="float" />
-              <param name="Z" type="float" />
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="meshId0-vertices">
-          <input semantic="POSITION" source="#meshId0-positions" />
-          <input semantic="NORMAL" source="#meshId0-normals" />
-        </vertices>
-        <polylist count="96" material="theresonlyone">
-          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
-          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
-          <p>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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 </p>
-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="myScene" name="myScene">
-      <node id="eus_glvertices" name="eus_glvertices">
-        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#meshId0">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="theresonlyone" target="#m0eusassimp_mat_0" />
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#myScene" />
-  </scene>
-</COLLADA>
diff --git a/environment_models/cupboard/model.config b/environment_models/cupboard/model.config
deleted file mode 100644
index 9e89289e..00000000
--- a/environment_models/cupboard/model.config
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>Cupboard</name>
-  <version>0.1.0</version>
-  <sdf>model.urdf</sdf>
-</model>
diff --git a/environment_models/cupboard/model.urdf b/environment_models/cupboard/model.urdf
deleted file mode 100644
index e22f070d..00000000
--- a/environment_models/cupboard/model.urdf
+++ /dev/null
@@ -1,34 +0,0 @@
-<?xml version="1.0"?>
-<robot name="cupboard"
-       xmlns:xi="http://www.w3.org/2001/XInclude"
-       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
-       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
-       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
-       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
-       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
-  <link name="BODY">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="model://cupboard/meshes/cupboard.dae" scale="1 1 1" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="model://cupboard/meshes/cupboard.dae" scale="1 1 1" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="20" />
-      <origin xyz="0 0 1" rpy="0 0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
-    </inertial>
-  </link>
-</robot>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index 9548d484..33cccf90 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -4,7 +4,5 @@
   <license>Creative Commons Attribution 3.0 Unported</license>
 
   <models>
-    <uri>file://cupboard</uri>
-    <uri>file://room73b2</uri>
   </models>
 </database>

From 67aa6cd937b781748608e93990ddbea7484ff8d1 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 11 Aug 2013 13:40:02 +0000
Subject: [PATCH 019/306] added cupboard model to hrpsys_gazebo_tutorials. This
 is an example model with joints which converted from the eusmodel.

---
 .../ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae | 101 +++
 .../ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae | 101 +++
 .../ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae | 170 ++++
 .../ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae | 239 ++++++
 .../ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae | 239 ++++++
 .../cupboard/meshes/ROOT_link_mesh.dae        | 791 ++++++++++++++++++
 environment_models/cupboard/model.config      |  10 +
 environment_models/cupboard/model.urdf        | 233 ++++++
 environment_models/manifest.xml               |   1 +
 9 files changed, 1885 insertions(+)
 create mode 100644 environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae
 create mode 100644 environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae
 create mode 100644 environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae
 create mode 100644 environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae
 create mode 100644 environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae
 create mode 100644 environment_models/cupboard/meshes/ROOT_link_mesh.dae
 create mode 100644 environment_models/cupboard/model.config
 create mode 100644 environment_models/cupboard/model.urdf

diff --git a/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae
new file mode 100644
index 00000000..48d3d321
--- /dev/null
+++ b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.488281   0.488281   0.410156   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.976562   0.976562   0.820312   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="72"> -0.176 -0.5755 0.6045 -0.166 -0.5755 0.6045 -0.166 -0.2825 0.6045 -0.176 -0.2825 0.6045 -0.166 -0.5755 -0.0805 -0.176 -0.5755 -0.0805 -0.176 -0.2825 -0.0805 -0.166 -0.2825 -0.0805 -0.176 -0.2825 -0.0805 -0.176 -0.2825 0.6045 -0.166 -0.2825 0.6045 -0.166 -0.2825 -0.0805 -0.166 -0.2825 -0.0805 -0.166 -0.2825 0.6045 -0.166 -0.5755 0.6045 -0.166 -0.5755 -0.0805 -0.166 -0.5755 -0.0805 -0.166 -0.5755 0.6045 -0.176 -0.5755 0.6045 -0.176 -0.5755 -0.0805 -0.176 -0.5755 -0.0805 -0.176 -0.5755 0.6045 -0.176 -0.2825 0.6045 -0.176 -0.2825 -0.0805 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="72"> 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 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
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+          <p>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 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="ASKUL-GDH-CUPBOARD-BODYSET2_link" name="ASKUL-GDH-CUPBOARD-BODYSET2_link">
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+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae
new file mode 100644
index 00000000..31e2b308
--- /dev/null
+++ b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
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+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
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+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
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+            <accessor count="24" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
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+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="ASKUL-GDH-CUPBOARD-BODYSET3_link" name="ASKUL-GDH-CUPBOARD-BODYSET3_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae
new file mode 100644
index 00000000..699bb615
--- /dev/null
+++ b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
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+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
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+            <specular>
+              <color sid="specular">0   0   0   1</color>
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+              <float sid="shininess">10</float>
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+              <color sid="reflective">0   0   0   0</color>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
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+          </instance_geometry>
+        </node>
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae
new file mode 100644
index 00000000..68031852
--- /dev/null
+++ b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae
@@ -0,0 +1,239 @@
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+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
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+    <geometry id="meshId2" name="meshId2_name" >
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+              <param name="X" type="float" />
+              <param name="Y" type="float" />
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+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId2-normals" name="meshId2-normals">
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+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId2-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
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+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId2-vertices">
+          <input semantic="POSITION" source="#meshId2-positions" />
+          <input semantic="NORMAL" source="#meshId2-normals" />
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+        <polylist count="12" material="theresonlyone">
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+          <p>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 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="ASKUL-GDH-CUPBOARD-BODYSET5_link" name="ASKUL-GDH-CUPBOARD-BODYSET5_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId1">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m1blinn21" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId2">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m2blinn22" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae
new file mode 100644
index 00000000..901351ee
--- /dev/null
+++ b/environment_models/cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae
@@ -0,0 +1,239 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
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+      <profile_COMMON>
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+          <phong>
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+            </emission>
+            <ambient>
+              <color sid="ambient">0.488281   0.488281   0.410156   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.976562   0.976562   0.820312   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
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+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
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+        </technique>
+      </profile_COMMON>
+    </effect>
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+        <technique sid="common">
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+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.498047   0.498047   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0.996094   0.996094   1</color>
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+            <specular>
+              <color sid="specular">0   0   0   1</color>
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+            <shininess>
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+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
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+            <ambient>
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+      <instance_effect url="#m0blinn20-fx"/>
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+      <instance_effect url="#m1blinn21-fx"/>
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+    <material id="m2blinn22" name="m2blinn22">
+      <instance_effect url="#m2blinn22-fx"/>
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+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId2-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId2-vertices">
+          <input semantic="POSITION" source="#meshId2-positions" />
+          <input semantic="NORMAL" source="#meshId2-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId2-vertices" />
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="ASKUL-GDH-CUPBOARD-BODYSET6_link" name="ASKUL-GDH-CUPBOARD-BODYSET6_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId1">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m1blinn21" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId2">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m2blinn22" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/cupboard/meshes/ROOT_link_mesh.dae b/environment_models/cupboard/meshes/ROOT_link_mesh.dae
new file mode 100644
index 00000000..2051d763
--- /dev/null
+++ b/environment_models/cupboard/meshes/ROOT_link_mesh.dae
@@ -0,0 +1,791 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
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+          <input semantic="NORMAL" source="#meshId7-normals" />
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+          <input semantic="NORMAL" source="#meshId8-normals" />
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+          <technique_common>
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+              <param name="X" type="float" />
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+          <input semantic="NORMAL" source="#meshId9-normals" />
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+              <param name="Y" type="float" />
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+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId10-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
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+          </technique_common>
+        </source>
+        <vertices id="meshId10-vertices">
+          <input semantic="POSITION" source="#meshId10-positions" />
+          <input semantic="NORMAL" source="#meshId10-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId10-vertices" />
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="ROOT_link" name="ROOT_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId1">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m1blinn21" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId2">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m3blinn22" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId3">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m4blinn23" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId4">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m5blinn24" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId5">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m6blinn25" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId6">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m7blinn26" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId7">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m8blinn27" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId8">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m9blinn28" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId9">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m10blinn29" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId10">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m2blinn210" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/cupboard/model.config b/environment_models/cupboard/model.config
new file mode 100644
index 00000000..0dc5af2a
--- /dev/null
+++ b/environment_models/cupboard/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>cupboard</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/cupboard/model.urdf b/environment_models/cupboard/model.urdf
new file mode 100644
index 00000000..7a39052c
--- /dev/null
+++ b/environment_models/cupboard/model.urdf
@@ -0,0 +1,233 @@
+<?xml version="1.0"?>
+<robot name="inst_kinsystem"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <link name="ROOT_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ROOT_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ROOT_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 1" rpy="0 0 0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <gazebo reference="ROOT_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="ASKUL-GDH-CUPBOARD-BODYSET2_link">
+    <visual>
+      <origin xyz="0.171 0.288 0.08" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.171 0.288 0.08" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 1" rpy="0 0 0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <gazebo reference="ASKUL-GDH-CUPBOARD-BODYSET2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="ASKUL-GDH-CUPBOARD-BODYSET3_link">
+    <visual>
+      <origin xyz="0.171 -0.288 0.08" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.171 -0.288 0.08" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 1" rpy="0 0 0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <gazebo reference="ASKUL-GDH-CUPBOARD-BODYSET3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="ASKUL-GDH-CUPBOARD-BODYSET5_link">
+    <visual>
+      <origin xyz="0.171 0.288 0.885" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.171 0.288 0.885" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 1" rpy="0 0 0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <gazebo reference="ASKUL-GDH-CUPBOARD-BODYSET5_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="ASKUL-GDH-CUPBOARD-BODYSET6_link">
+    <visual>
+      <origin xyz="0.171 -0.288 0.885" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.171 -0.288 0.885" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 1" rpy="0 0 0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <gazebo reference="ASKUL-GDH-CUPBOARD-BODYSET6_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="ASKUL-GDH-CUPBOARD-BODYSET4_link">
+    <visual>
+      <origin xyz="0 0 0.822" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.822" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://cupboard/meshes/ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 1" rpy="0 0 0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <gazebo reference="ASKUL-GDH-CUPBOARD-BODYSET4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <joint name="DOOR-LOWER-LEFT" type="revolute">
+    <parent link="ROOT_link"/>
+    <child  link="ASKUL-GDH-CUPBOARD-BODYSET2_link"/>
+    <origin xyz="0.171 0.288 0.08" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 1"/>
+    <limit lower="0" upper="1.5708" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="DOOR-LOWER-LEFT_trans" >
+    <actuator name="DOOR-LOWER-LEFT_motor" />
+    <joint name="DOOR-LOWER-LEFT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="DOOR-LOWER-LEFT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+  <joint name="DOOR-LOWER-RIGHT" type="revolute">
+    <parent link="ROOT_link"/>
+    <child  link="ASKUL-GDH-CUPBOARD-BODYSET3_link"/>
+    <origin xyz="0.171 -0.288 0.08" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 -1"/>
+    <limit lower="0" upper="1.5708" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="DOOR-LOWER-RIGHT_trans" >
+    <actuator name="DOOR-LOWER-RIGHT_motor" />
+    <joint name="DOOR-LOWER-RIGHT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="DOOR-LOWER-RIGHT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+  <joint name="DOOR-UPPER-LEFT" type="revolute">
+    <parent link="ROOT_link"/>
+    <child  link="ASKUL-GDH-CUPBOARD-BODYSET5_link"/>
+    <origin xyz="0.171 0.288 0.885" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 1"/>
+    <limit lower="0" upper="1.5708" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="DOOR-UPPER-LEFT_trans" >
+    <actuator name="DOOR-UPPER-LEFT_motor" />
+    <joint name="DOOR-UPPER-LEFT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="DOOR-UPPER-LEFT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+  <joint name="DOOR-UPPER-RIGHT" type="revolute">
+    <parent link="ROOT_link"/>
+    <child  link="ASKUL-GDH-CUPBOARD-BODYSET6_link"/>
+    <origin xyz="0.171 -0.288 0.885" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 -1"/>
+    <limit lower="0" upper="1.5708" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="DOOR-UPPER-RIGHT_trans" >
+    <actuator name="DOOR-UPPER-RIGHT_motor" />
+    <joint name="DOOR-UPPER-RIGHT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="DOOR-UPPER-RIGHT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+  <joint name="DRAWER" type="prismatic">
+    <parent link="ROOT_link"/>
+    <child  link="ASKUL-GDH-CUPBOARD-BODYSET4_link"/>
+    <origin xyz="0 0 0.822" rpy="0 -0 0 "/>
+    <axis   xyz="1 0 0"/>
+    <limit lower="0" upper="0.353" effort="100" velocity="0.01" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="DRAWER_trans" >
+    <actuator name="DRAWER_motor" />
+    <joint name="DRAWER" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="DRAWER">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+</robot>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index 33cccf90..12618b51 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -4,5 +4,6 @@
   <license>Creative Commons Attribution 3.0 Unported</license>
 
   <models>
+    <uri>file://cupboard</uri>
   </models>
 </database>

From 2f8cbf14f483953cda2c6042bb06249627568d70 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 11 Aug 2013 14:32:15 +0000
Subject: [PATCH 020/306] added euslisp function for converting whole room to
 urdf

---
 euslisp/hrpsys-gazebo-utils.l | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 6924185f..3561fe08 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -6,11 +6,21 @@
 (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\")~%")
-
+(warn "~%(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%")
 
+(defun add-room-to-gazebo (room)
+  (dolist (obj (send room :objects))
+    (unless (send obj :name)
+      (send obj :name "no-name"))
+    (eus2urdf-for-gazebo obj))
+  )
+(warn "(add-room-to-gazebo (room73b2))~%")

From 65f9e07365c279371070dbe3284cb642cefa6926 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 11 Aug 2013 16:11:40 +0000
Subject: [PATCH 021/306] added generate_model_database.py for generate
 environment_models/manifest.xml automatically

---
 scripts/generate_model_database.py | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)
 create mode 100755 scripts/generate_model_database.py

diff --git a/scripts/generate_model_database.py b/scripts/generate_model_database.py
new file mode 100755
index 00000000..809924c8
--- /dev/null
+++ b/scripts/generate_model_database.py
@@ -0,0 +1,24 @@
+#! /usr/bin/env python
+
+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("<!-- automatically generated -->\n<?xml version=\"1.0\" ?>\n<database>\n  <name>hrpsys_gazebo</name>\n  <license>Creative Commons Attribution 3.0 Unported</license>\n\n  <models>\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("    <uri>file://%s</uri>\n" % model_name)
+
+    f.write("  </models>\n</database>\n")
+
+    f.close()
+
+
+
+if __name__ == '__main__':
+    generate_model_database()

From c9ccf9b3196d4f7bb6ef5353dae446b928335188 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 00:09:38 +0000
Subject: [PATCH 022/306] added make_model_static.py and
 remove_all_added_models.py

---
 scripts/eus2urdf_for_gazebo_pyscript.py | 22 ++++++++++------------
 scripts/generate_model_database.py      |  3 ++-
 scripts/make_model_static.py            | 18 ++++++++++++++++++
 scripts/remove_all_added_models.py      | 18 ++++++++++++++++++
 4 files changed, 48 insertions(+), 13 deletions(-)
 create mode 100755 scripts/make_model_static.py
 create mode 100644 scripts/remove_all_added_models.py

diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
index 95549ed7..81717167 100755
--- a/scripts/eus2urdf_for_gazebo_pyscript.py
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -4,33 +4,32 @@
 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 -r %s" % urdf_dir_path)
+        os.system("rm -rf %s" % urdf_dir_path)
     else:
-        print "[eu2urdf] check if the same name model already exits"
+        print "[eus2urdf] check if the same name model already exits"
         if os.path.exists(urdf_dir_path):
-            print '[ERROR eu2urdf] the same name model already exits'
+            print '[ERROR eus2urdf] the same name model already exits'
             exit(1)
 
-    print "[eu2urdf] make directory for urdf"
+    print "[eus2urdf] make directory for urdf"
     os.mkdir(urdf_dir_path)
 
     add_line_string = '\<uri\>file://%s\</uri\>' % name
     manifest_path = '%s/../manifest.xml' % urdf_dir_path
-    print "grep %s %s" % (add_line_string, manifest_path)
-    print (commands.getoutput("grep %s %s" % (add_line_string, manifest_path)))
     if len(commands.getoutput("grep %s %s" % (add_line_string, manifest_path))) == 0:
-        print "[eu2urdf] add file path to manifest.xml"
+        print "[eus2urdf] add file path to manifest.xml"
         os.system('sed -i -e \"s@  </models>@    %s\\n  </models>@g\" %s' % (add_line_string, manifest_path))
 
-    print "[eu2urdf] make model.config in urdf directory"
+    print "[eus2urdf] make model.config in urdf directory"
     config_path = '%s/model.config' % urdf_dir_path
-    os.system('echo "<?xml version=\'1.0\'?>\n<model>\n  <name>%s</name>\n  <version>0.1.0</version>\n  <sdf>model.urdf</sdf>\n</model>\n" > %s' % (name, config_path))
+    os.system('echo "<?xml version=\'1.0\'?>\n<model>\n  <name>%s</name>\n  <version>0.1.0</version>\n  <sdf>model.urdf</sdf>\n  <description>\n     This model was automatically generated by converting the eus model.\n  </description>\n</model>\n" > %s' % (name, config_path))
 
-    print "[eu2urdf] convert collada to urdf"
+    print "[eus2urdf] convert collada to urdf"
     meshes_path = urdf_dir_path + '/meshes'
     urdf_path = urdf_dir_path + '/' + 'model.urdf'
     os.mkdir(meshes_path)
@@ -38,8 +37,7 @@ def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True):
     os.system('sed -i -e "s@continuous@revolute@g" %s' % urdf_path)
 
     print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
-    os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\" />\\n      <origin xyz=\\\"0 0 1\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
-
+    os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 1\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
 
 
 if __name__ == '__main__':
diff --git a/scripts/generate_model_database.py b/scripts/generate_model_database.py
index 809924c8..0971898e 100755
--- a/scripts/generate_model_database.py
+++ b/scripts/generate_model_database.py
@@ -1,7 +1,9 @@
 #! /usr/bin/env python
 
+import os
 import commands
 
+
 def generate_model_database ():
 
     manifest_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/'
@@ -19,6 +21,5 @@ def generate_model_database ():
     f.close()
 
 
-
 if __name__ == '__main__':
     generate_model_database()
diff --git a/scripts/make_model_static.py b/scripts/make_model_static.py
new file mode 100755
index 00000000..21315950
--- /dev/null
+++ b/scripts/make_model_static.py
@@ -0,0 +1,18 @@
+#! /usr/bin/env python
+
+import sys
+import os
+import commands
+
+
+def make_model_static (name):
+
+    urdf_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + name
+    urdf_path = urdf_dir_path + '/' + 'model.urdf'
+    if len(commands.getoutput("grep \"<static>true</static>\" %s" % urdf_path)) == 0:
+        os.system('sed -i -e \"s@</robot>@  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n</robot>@g\" %s' % urdf_path)
+
+
+if __name__ == '__main__':
+    if len(sys.argv) > 1:
+        eus2urdf_for_gazebo_pyscript(sys.argv[1])
diff --git a/scripts/remove_all_added_models.py b/scripts/remove_all_added_models.py
new file mode 100644
index 00000000..98371475
--- /dev/null
+++ b/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()
+
+

From 2998a22ea1afd71cf3262d6eb8c47fe01ba674e6 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 00:49:52 +0000
Subject: [PATCH 023/306] mv make_model_static to make_static_model : copy orig
 dir model for static model.

---
 scripts/make_model_static.py | 18 ------------------
 scripts/make_static_model.py | 30 ++++++++++++++++++++++++++++++
 2 files changed, 30 insertions(+), 18 deletions(-)
 delete mode 100755 scripts/make_model_static.py
 create mode 100755 scripts/make_static_model.py

diff --git a/scripts/make_model_static.py b/scripts/make_model_static.py
deleted file mode 100755
index 21315950..00000000
--- a/scripts/make_model_static.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#! /usr/bin/env python
-
-import sys
-import os
-import commands
-
-
-def make_model_static (name):
-
-    urdf_dir_path = commands.getoutput('rospack find hrpsys_gazebo_tutorials') + '/environment_models/' + name
-    urdf_path = urdf_dir_path + '/' + 'model.urdf'
-    if len(commands.getoutput("grep \"<static>true</static>\" %s" % urdf_path)) == 0:
-        os.system('sed -i -e \"s@</robot>@  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n</robot>@g\" %s' % urdf_path)
-
-
-if __name__ == '__main__':
-    if len(sys.argv) > 1:
-        eus2urdf_for_gazebo_pyscript(sys.argv[1])
diff --git a/scripts/make_static_model.py b/scripts/make_static_model.py
new file mode 100755
index 00000000..7a075fae
--- /dev/null
+++ b/scripts/make_static_model.py
@@ -0,0 +1,30 @@
+#! /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 \"<static>true</static>\" %s" % static_urdf_path)) == 0:
+        os.system('sed -i -e \"s@</robot>@  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n</robot>@g\" %s' % static_urdf_path)
+
+
+if __name__ == '__main__':
+    if len(sys.argv) > 1:
+        make_static_model(sys.argv[1])

From 000bb31a23b65fabf4473327f90acd5608818602 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 09:00:11 +0000
Subject: [PATCH 024/306] added euslisp functions for generating room model and
 world.

---
 euslisp/hrpsys-gazebo-utils.l | 64 +++++++++++++++++++++++++++++++----
 1 file changed, 57 insertions(+), 7 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 3561fe08..79999c14 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -17,10 +17,60 @@
     ))
 (warn "~%(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%")
 
-(defun add-room-to-gazebo (room)
-  (dolist (obj (send room :objects))
-    (unless (send obj :name)
-      (send obj :name "no-name"))
-    (eus2urdf-for-gazebo obj))
-  )
-(warn "(add-room-to-gazebo (room73b2))~%")
+
+(defun eus2urdf-room-for-gazebo (room &key make-static make-world-file (robot-name "HRP2JSK"))
+  (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)))
+    (when make-world-file
+      ;; generate the world file
+      (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@    <!-- A robot -->@    <!-- A robot -->\\n    <include>\\n      <uri>model://~a</uri>\\n      <pose>1.0 0 0.70 0 0 0</pose>\\n    </include>@g\" ~a" robot-name world-new-file-path)))
+    (dolist (obj (send room :objects))
+      (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))
+	;; convert the model
+	(eus2urdf-for-gazebo obj obj-name)
+	;; make static the model
+	(when (or make-static make-world-file)
+	  (unix:system (format nil "rosrun hrpsys_gazebo_tutorials make_static_model.py ~a" obj-name)))
+	(when make-world-file
+	  ;; 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@    <!-- Objects -->@    <!-- Objects -->\\n    <include>\\n      <uri>model://~a_static</uri>\\n      <pose>~a ~a</pose>\\n    </include>@g\" ~a" obj-name pos-string rpy-string world-new-file-path))))
+	))
+    ;; 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)
+    (return-from generate-room-world))
+  ;; check the model is derived from the room class
+  (let* ((room (funcall (read-from-string name))))
+    (unless (derivedp room scene)
+      (warn "[ERROR] room (~a) is not room the model." name)
+      (return-from generate-room-world))
+    ;; convert room models
+    (eus2urdf-room-for-gazebo room :make-static t)
+    ))
+(warn "(generate-room-models \"room73b2\")~%")
+

From 09ba11049a5dd4d07812a7b7b22ef93c75970d38 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 09:00:57 +0000
Subject: [PATCH 025/306] set model name correctly in urdf converting script.

---
 scripts/eus2urdf_for_gazebo_pyscript.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
index 81717167..cd0376b1 100755
--- a/scripts/eus2urdf_for_gazebo_pyscript.py
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -35,6 +35,7 @@ def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True):
     os.mkdir(meshes_path)
     os.system('rosrun collada_tools 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@<robot name=\\"inst_kinsystem\\"@<robot name=\\"%s\\"@g\" %s' % (name, urdf_path))
 
     print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
     os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 1\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)

From b9d1e00f03aa7603f22c040e268ac5a9646abb48 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 09:02:17 +0000
Subject: [PATCH 026/306] added python script for generating room model and
 world.

---
 scripts/generate_room_world.py | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)
 create mode 100755 scripts/generate_room_world.py

diff --git a/scripts/generate_room_world.py b/scripts/generate_room_world.py
new file mode 100755
index 00000000..afad13b3
--- /dev/null
+++ b/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]

From 9863810bc37c26ad22acdd62cb6b9c5acc99040b Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 09:48:04 +0000
Subject: [PATCH 027/306] added worlds/world_source.world

---
 worlds/HRP2JSK_cupboard.world |  6 ++++--
 worlds/world_source.world     | 35 +++++++++++++++++++++++++++++++++++
 2 files changed, 39 insertions(+), 2 deletions(-)
 create mode 100644 worlds/world_source.world

diff --git a/worlds/HRP2JSK_cupboard.world b/worlds/HRP2JSK_cupboard.world
index fdb61b46..100acdd2 100644
--- a/worlds/HRP2JSK_cupboard.world
+++ b/worlds/HRP2JSK_cupboard.world
@@ -27,13 +27,15 @@
     <include>
       <uri>model://ground_plane</uri>
     </include>
+    <!-- A robot -->
     <include>
       <uri>model://HRP2JSK</uri>
       <pose>0 0 0.70 0 0 0</pose>
     </include>
+    <!-- Objects -->
     <include>
-      <uri>model://cupboard</uri>
-      <pose>1 0 0 0 0 3.1415</pose>
+      <uri>model://cupboard_static</uri>
+      <pose>2 0 0 0 0 3.1415</pose>
     </include>
   </world>
 </sdf>
diff --git a/worlds/world_source.world b/worlds/world_source.world
new file mode 100644
index 00000000..a977b2b4
--- /dev/null
+++ b/worlds/world_source.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<!-- This is a source file of world. -->
+<!-- Do not edit this file. -->
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- A robot -->
+    <!-- Objects -->
+  </world>
+</sdf>

From e90eb98d46529707efc7055610ed04c01e6163ca Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 10:11:33 +0000
Subject: [PATCH 028/306] added gazebo_launch_source.launch for generating
 launch files automatically

---
 launch/gazebo_launch_source.launch | 11 +++++++++++
 1 file changed, 11 insertions(+)
 create mode 100644 launch/gazebo_launch_source.launch

diff --git a/launch/gazebo_launch_source.launch b/launch/gazebo_launch_source.launch
new file mode 100644
index 00000000..29db4e73
--- /dev/null
+++ b/launch/gazebo_launch_source.launch
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="__world_name__"/>
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/__robot_name__.yaml" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+  </include>
+</launch>

From 3f9f72b21d2a541c0cac8db7f4efde4e05b4afb0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 10:14:18 +0000
Subject: [PATCH 029/306] generate launch file automatically in euslisp script.

---
 euslisp/hrpsys-gazebo-utils.l | 15 ++++++++++++---
 worlds/HRP2JSK_cupboard.world |  4 ++--
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 79999c14..7b5e8928 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -18,11 +18,13 @@
 (warn "~%(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%")
 
 
-(defun eus2urdf-room-for-gazebo (room &key make-static make-world-file (robot-name "HRP2JSK"))
+(defun eus2urdf-room-for-gazebo (room &key make-static make-world-file make-launch-file (robot-name "HRP2JSK"))
   (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)))
+	 (world-new-file-path (format nil "~a/worlds/~a_~a.world" package-dir-path robot-name room-name))
+	 (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)))
     (when make-world-file
       ;; generate the world file
       (unix:system (format nil "rm -rf ~a" world-new-file-path))
@@ -55,6 +57,13 @@
 	))
     ;; generate the model database file
     (unix:system (format nil "rosrun hrpsys_gazebo_tutorials generate_model_database.py"))
+    (when make-launch-file
+      ;; generate the launch file
+      (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 "(eus2urdf-room-for-gazebo (room73b2))~%")
 
@@ -70,7 +79,7 @@
       (warn "[ERROR] room (~a) is not room the model." name)
       (return-from generate-room-world))
     ;; convert room models
-    (eus2urdf-room-for-gazebo room :make-static t)
+    (eus2urdf-room-for-gazebo room :make-static t :make-world-file t :make-launch-file t)
     ))
 (warn "(generate-room-models \"room73b2\")~%")
 
diff --git a/worlds/HRP2JSK_cupboard.world b/worlds/HRP2JSK_cupboard.world
index 100acdd2..164b3a33 100644
--- a/worlds/HRP2JSK_cupboard.world
+++ b/worlds/HRP2JSK_cupboard.world
@@ -34,8 +34,8 @@
     </include>
     <!-- Objects -->
     <include>
-      <uri>model://cupboard_static</uri>
-      <pose>2 0 0 0 0 3.1415</pose>
+      <uri>model://cupboard</uri>
+      <pose>1 0 0 0 0 3.1415</pose>
     </include>
   </world>
 </sdf>

From f8c6fd80ce4e17cd3489ee2febeeeac200502219 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 12:50:43 +0000
Subject: [PATCH 030/306] added static false tag to default converted models.

---
 scripts/eus2urdf_for_gazebo_pyscript.py | 3 ++-
 scripts/make_static_model.py            | 7 +++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
index cd0376b1..53a5ef56 100755
--- a/scripts/eus2urdf_for_gazebo_pyscript.py
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -36,9 +36,10 @@ def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True):
     os.system('rosrun collada_tools 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@<robot name=\\"inst_kinsystem\\"@<robot name=\\"%s\\"@g\" %s' % (name, urdf_path))
+    os.system('sed -i -e \"s@  <link @  <gazebo>\\n    <static>false</static>\\n  </gazebo>\\n  <link @g\" %s' % urdf_path)
 
     print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
-    os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 1\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
+    os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 0.2\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
 
 
 if __name__ == '__main__':
diff --git a/scripts/make_static_model.py b/scripts/make_static_model.py
index 7a075fae..89e6cd1e 100755
--- a/scripts/make_static_model.py
+++ b/scripts/make_static_model.py
@@ -21,8 +21,11 @@ def make_static_model (name, overwrite=True):
     
     os.system("cp -r %s %s" % (urdf_dir_path, static_urdf_dir_path))
 
-    if len(commands.getoutput("grep \"<static>true</static>\" %s" % static_urdf_path)) == 0:
-        os.system('sed -i -e \"s@</robot>@  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n</robot>@g\" %s' % static_urdf_path)
+    if len(commands.getoutput("grep \"<static>false</static>\" %s" % static_urdf_path)) != 0:
+        os.system('sed -i -e \"s@<static>false</static>@<static>true</static>@g\" %s' % static_urdf_path)
+    elif len(commands.getoutput("grep \"<static>true</static>\" %s" % static_urdf_path)) == 0:
+        os.system('sed -i -e \"s@  <link @  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n  <link @g\" %s' % static_urdf_path)
+        # os.system('sed -i -e \"s@</robot>@  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n</robot>@g\" %s' % static_urdf_path)
 
 
 if __name__ == '__main__':

From 14b4fb90070e03fe361ed247b6829a350bde46e2 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 12:51:02 +0000
Subject: [PATCH 031/306] complement room for room name.

---
 euslisp/hrpsys-gazebo-utils.l | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 7b5e8928..f2d0e426 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -71,13 +71,15 @@
 (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)
-    (return-from generate-room-world))
+    (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* ((room (funcall (read-from-string name))))
     (unless (derivedp room scene)
-      (warn "[ERROR] room (~a) is not room the model." name)
-      (return-from generate-room-world))
+      (warn "[ERROR] room (~a) is not room the model.~%" name)
+      (return-from generate-room-models))
     ;; convert room models
     (eus2urdf-room-for-gazebo room :make-static t :make-world-file t :make-launch-file t)
     ))

From 6788d29ed47eca94945263ac905170bf717cf41e Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 12 Aug 2013 17:04:50 +0000
Subject: [PATCH 032/306] make fixed model files: the object which root link is
 fixed to the world.

---
 euslisp/hrpsys-gazebo-utils.l           |  9 ++++---
 scripts/eus2urdf_for_gazebo_pyscript.py |  2 +-
 scripts/make_fixed_model.py             | 32 +++++++++++++++++++++++++
 scripts/make_static_model.py            |  2 ++
 4 files changed, 41 insertions(+), 4 deletions(-)
 create mode 100755 scripts/make_fixed_model.py

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index f2d0e426..2b20a3f8 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -18,7 +18,7 @@
 (warn "~%(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%")
 
 
-(defun eus2urdf-room-for-gazebo (room &key make-static make-world-file make-launch-file (robot-name "HRP2JSK"))
+(defun eus2urdf-room-for-gazebo (room &key make-static make-fixed make-world-file make-launch-file (robot-name "HRP2JSK"))
   (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))
@@ -44,9 +44,12 @@
 	  (incf obj-cnt))
 	;; convert the model
 	(eus2urdf-for-gazebo obj obj-name)
-	;; make static the model
+	;; make the static model
 	(when (or make-static make-world-file)
 	  (unix:system (format nil "rosrun hrpsys_gazebo_tutorials make_static_model.py ~a" obj-name)))
+	;; make the fixed model
+	(when (or make-fixed make-world-file)
+	  (unix:system (format nil "rosrun hrpsys_gazebo_tutorials make_fixed_model.py ~a" obj-name)))
 	(when make-world-file
 	  ;; add the obects to the world file
 	  (let* ((pos (scale 0.001 (send obj :worldpos)))
@@ -81,7 +84,7 @@
       (warn "[ERROR] room (~a) is not room the model.~%" name)
       (return-from generate-room-models))
     ;; convert room models
-    (eus2urdf-room-for-gazebo room :make-static t :make-world-file t :make-launch-file t)
+    (eus2urdf-room-for-gazebo room :make-static t :make-fixed t :make-world-file t :make-launch-file t)
     ))
 (warn "(generate-room-models \"room73b2\")~%")
 
diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
index 53a5ef56..6e192472 100755
--- a/scripts/eus2urdf_for_gazebo_pyscript.py
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -36,7 +36,7 @@ def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True):
     os.system('rosrun collada_tools 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@<robot name=\\"inst_kinsystem\\"@<robot name=\\"%s\\"@g\" %s' % (name, urdf_path))
-    os.system('sed -i -e \"s@  <link @  <gazebo>\\n    <static>false</static>\\n  </gazebo>\\n  <link @g\" %s' % urdf_path)
+    os.system('sed -i -e \"1,/  <link /s/  <link /  <gazebo>\\n    <static>false<\/static>\\n  <\/gazebo>\\n  <link /\" %s' % urdf_path)
 
     print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
     os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 0.2\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
diff --git a/scripts/make_fixed_model.py b/scripts/make_fixed_model.py
new file mode 100755
index 00000000..8145511f
--- /dev/null
+++ b/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/  <link name=\\\"\(.*\)\\\">/\\1/"' % fixed_urdf_path)
+    os.system('sed -i -e \"s@</robot>@  <!-- Used for fixing robot to Gazebo \'base_link\' -->\\n  <link name=\\\"world\\\"/>\\n  <joint name=\\\"fixed\\\" type=\\\"fixed\\\">\\n    <parent link=\\\"world\\\"/>\\n    <child link=\\\"%s\\\"/>\\n  </joint>\\n</robot>@g\" %s' % (root_link_name, fixed_urdf_path))
+
+    os.system('sed -i -e "s@<robot name=\\"\(.*\)\\"@<robot name=\\"\\1_fixed\\"@g\" %s' % fixed_urdf_path)
+
+
+if __name__ == '__main__':
+    if len(sys.argv) > 1:
+        make_fixed_model(sys.argv[1])
diff --git a/scripts/make_static_model.py b/scripts/make_static_model.py
index 89e6cd1e..5ab2fcd1 100755
--- a/scripts/make_static_model.py
+++ b/scripts/make_static_model.py
@@ -27,6 +27,8 @@ def make_static_model (name, overwrite=True):
         os.system('sed -i -e \"s@  <link @  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n  <link @g\" %s' % static_urdf_path)
         # os.system('sed -i -e \"s@</robot>@  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n</robot>@g\" %s' % static_urdf_path)
 
+    os.system('sed -i -e "s@<robot name=\\"\(.*\)\\"@<robot name=\\"\\1_static\\"@g\" %s' % static_urdf_path)
+
 
 if __name__ == '__main__':
     if len(sys.argv) > 1:

From f446121c68f3bae34799b4dbfa16a83255f88150 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 13 Aug 2013 05:31:33 +0000
Subject: [PATCH 033/306] added remove_all_generated_files.py

---
 scripts/remove_all_generated_files.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)
 create mode 100755 scripts/remove_all_generated_files.py

diff --git a/scripts/remove_all_generated_files.py b/scripts/remove_all_generated_files.py
new file mode 100755
index 00000000..b49044ed
--- /dev/null
+++ b/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()
+
+

From 07d6ae26f3463a0f8062398a77d625929032bab4 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 17 Aug 2013 06:52:58 +0000
Subject: [PATCH 034/306] update config file for sample robot and add comments

---
 config/sample_robot.yaml | 44 ++++++++++++++++++++++++----------------
 1 file changed, 26 insertions(+), 18 deletions(-)

diff --git a/config/sample_robot.yaml b/config/sample_robot.yaml
index 6be39ae9..34fa731b 100644
--- a/config/sample_robot.yaml
+++ b/config/sample_robot.yaml
@@ -1,6 +1,9 @@
 hrpsys_gazebo_configuration:
+# 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
@@ -31,7 +34,7 @@ hrpsys_gazebo_configuration:
     - WAIST_P
     - WAIST_R
     - CHEST
-## jointid:
+## joint gain settings
   gains:
     LLEG_HIP_R:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
     LLEG_HIP_P:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
@@ -62,19 +65,24 @@ hrpsys_gazebo_configuration:
     RARM_WRIST_Y:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
     RARM_WRIST_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
     RARM_WRIST_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-##
-  force_torque_sensors:
-    - lfsensor
-    - rfsensor 
-    - lhsensor
-    - rhsensor 
-  force_torque_sensors_config:
-    lfsensor: {joint_name: 'LLEG_ANKLE_R', frame_id: 'LLEG_LINK6'}
-    rfsensor: {joint_name: 'RLEG_ANKLE_R', frame_id: 'RLEG_LINK6'}
-    lhsensor: {joint_name: 'LARM_WRIST_P', frame_id: 'LARM_LINK6'}
-    rhsensor: {joint_name: 'RARM_WRIST_P', frame_id: 'RARM_LINK6'}
-##
-  imu_sensors:
-    - imu_sensor0
-  imu_sensors:
-    imu_sensor0: {name: 'waist_imu', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'}
+## 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_P', frame_id: 'LARM_LINK6'}
+  #   rhsensor: {joint_name: 'RARM_WRIST_P', frame_id: 'RARM_LINK6'}
+## 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: 'waist_imu', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'}

From 610366928befe664d344fdc0420e42447aa494a1 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 18 Aug 2013 12:33:13 +0000
Subject: [PATCH 035/306] add temporary sensor configuration to
 SampleRobot.urdf

---
 config/sample_robot.yaml                  | 28 +++++++++++------------
 robot_models/SampleRobot/install_robot.sh |  6 ++++-
 2 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/config/sample_robot.yaml b/config/sample_robot.yaml
index 34fa731b..e9dc3067 100644
--- a/config/sample_robot.yaml
+++ b/config/sample_robot.yaml
@@ -67,22 +67,22 @@ hrpsys_gazebo_configuration:
     RARM_WRIST_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
 ## force sensor settings
 ## list of force sensorname
-  # force_torque_sensors:
-  #   - lfsensor
-  #   - rfsensor
-  #   - lhsensor
-  #   - rhsensor
+  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_P', frame_id: 'LARM_LINK6'}
-  #   rhsensor: {joint_name: 'RARM_WRIST_P', frame_id: 'RARM_LINK6'}
+  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: 'waist_imu', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'}
+  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/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index 1ac6ce7d..2c9321d7 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -4,8 +4,12 @@ if [ ! -e hrpsys ]; then
 ##
     mkdir meshes
     rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://SampleRobot/meshes'
-##
+## add Plugin settings
     sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+## add IMU sensor (TODO: sensors should be added when converting from collada file)
+    sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+## add forse sensors (TODO: sensors should be added when converting from collada file)
+    sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 # continuous joint not working in GAZEBO
     sed -i -e 's@continuous@revolute@g' SampleRobot.urdf
 

From 83255199c54c3f8b05d96b81a65787e511113aa0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 19 Aug 2013 11:35:00 +0000
Subject: [PATCH 036/306] not add inertia property in python script.

---
 scripts/eus2urdf_for_gazebo_pyscript.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
index 6e192472..e030d64a 100755
--- a/scripts/eus2urdf_for_gazebo_pyscript.py
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -38,8 +38,8 @@ def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True):
     os.system('sed -i -e \"s@<robot name=\\"inst_kinsystem\\"@<robot name=\\"%s\\"@g\" %s' % (name, urdf_path))
     os.system('sed -i -e \"1,/  <link /s/  <link /  <gazebo>\\n    <static>false<\/static>\\n  <\/gazebo>\\n  <link /\" %s' % urdf_path)
 
-    print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
-    os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 0.2\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
+    # print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
+    # os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 0.2\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
 
 
 if __name__ == '__main__':

From 49817bd9bb9e083bb5dd94c89bd3ab216219b97a Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 19 Aug 2013 11:56:05 +0000
Subject: [PATCH 037/306] rename sample_robot.yaml -> samplerobot.yaml for
 auto-generating script.

---
 config/{sample_robot.yaml => samplerobot.yaml} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename config/{sample_robot.yaml => samplerobot.yaml} (100%)

diff --git a/config/sample_robot.yaml b/config/samplerobot.yaml
similarity index 100%
rename from config/sample_robot.yaml
rename to config/samplerobot.yaml

From 0fe17836a8c6e931f107c6705cb9f5e2f3af26d6 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 19 Aug 2013 11:57:30 +0000
Subject: [PATCH 038/306] added
 gazebo_samplerobot_no_controllers_with_cupboard.launch

---
 launch/gazebo_robot_no_controllers.launch             |  2 +-
 ...bo_samplerobot_no_controllers_with_cupboard.launch | 11 +++++++++++
 2 files changed, 12 insertions(+), 1 deletion(-)
 create mode 100644 launch/gazebo_samplerobot_no_controllers_with_cupboard.launch

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index ada87dec..9d1227ae 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -1,7 +1,7 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="SampleRobot.world"/>
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/sample_robot.yaml" />
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
 
   <arg name="PAUSED" default="false"/>
   <arg name="ROBOT_MODEL" default="" />
diff --git a/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch b/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch
new file mode 100644
index 00000000..98e14bff
--- /dev/null
+++ b/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="SampleRobot_cupboard.world"/>
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+  </include>
+</launch>

From 6b4d6bd039544b1f5053448b8137f237d90a012c Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 19 Aug 2013 11:58:07 +0000
Subject: [PATCH 039/306] added worlds/SampleRobot_cupboard.world

---
 worlds/SampleRobot_cupboard.world | 39 +++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 worlds/SampleRobot_cupboard.world

diff --git a/worlds/SampleRobot_cupboard.world b/worlds/SampleRobot_cupboard.world
new file mode 100644
index 00000000..5e1f232e
--- /dev/null
+++ b/worlds/SampleRobot_cupboard.world
@@ -0,0 +1,39 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://SampleRobot</uri>
+      <pose>0 0 0.73 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://cupboard</uri>
+      <pose>1 0 0 0 0 3.1415</pose>
+    </include>
+  </world>
+</sdf>

From 573735d4037dc0ed0d8bb0be39342c75b2a7dffb Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 19 Aug 2013 12:55:22 +0000
Subject: [PATCH 040/306] changed default robot name SampleRobot

---
 euslisp/hrpsys-gazebo-utils.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 2b20a3f8..2ff12448 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -18,7 +18,7 @@
 (warn "~%(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%")
 
 
-(defun eus2urdf-room-for-gazebo (room &key make-static make-fixed make-world-file make-launch-file (robot-name "HRP2JSK"))
+(defun eus2urdf-room-for-gazebo (room &key make-static make-fixed make-world-file make-launch-file (robot-name "SampleRobot"))
   (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))

From 1990eae91020aba3b26207b26cfafa2f45ec19ce Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 23 Aug 2013 12:40:43 +0000
Subject: [PATCH 041/306] update for using ROBOT_HARDWARE

---
 launch/robot_hrpsys_bringup.launch | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index 0419066a..b6031f2a 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -29,19 +29,11 @@
     <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
     <!-- settings -->
     <arg name="USE_COMMON" default="true" />
+    <arg name="USE_ROBOTHARDWARE" default="true" />
     <arg name="USE_WALKING" default="false" />
     <arg name="USE_COLLISIONCHECK" default="true" />
     <arg name="USE_IMPEDANCECONTROLLER" default="false" />
     <arg name="USE_SOFTERRORLIMIT" default="true" />
+    <arg name="USE_IMAGESENSOR" default="false" />
   </include>
-
-  <!-- BEGIN:openrtm connection -->
-  <env name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
-  <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-  <node name="rtmlaunch_hrpsys_gazebo_atlas_hrpsys_launch" pkg="openrtm_tools" type="rtmlaunch.py"
-        args="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch"/>
-  <rtconnect from="RobotHardwareServiceROSBridge.rtc:RobotHardwareService"
-             to="$(arg SIMULATOR_NAME).rtc:RobotHardwareService"  subscription_type="new"/>
-  <!-- END:openrtm connection -->
-
 </launch>

From 7cee1dde5ce97f537705359554cc67f0be822f47 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 23 Aug 2013 13:22:25 +0000
Subject: [PATCH 042/306] add gyrometer link to samplerobot

---
 robot_models/SampleRobot/install_robot.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index 2c9321d7..af0c94aa 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -7,7 +7,7 @@ if [ ! -e hrpsys ]; then
 ## add Plugin settings
     sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 ## add IMU sensor (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+    sed -i -e 's@</robot>@  <link name="gyrometer" />\n  <joint name="gyrometer_jnt" type="fixed">\n    <parent link="WAIST_LINK0"/>\n    <child  link="gyrometer"/>\n  </joint>\n  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 ## add forse sensors (TODO: sensors should be added when converting from collada file)
     sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 # continuous joint not working in GAZEBO

From 5474269d799887349e843ea229a2449a9e4aaa38 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 23 Aug 2013 13:23:17 +0000
Subject: [PATCH 043/306] update joint parameter of samplerobot

---
 config/samplerobot.yaml | 58 ++++++++++++++++++++---------------------
 1 file changed, 29 insertions(+), 29 deletions(-)

diff --git a/config/samplerobot.yaml b/config/samplerobot.yaml
index e9dc3067..41638ed6 100644
--- a/config/samplerobot.yaml
+++ b/config/samplerobot.yaml
@@ -36,35 +36,35 @@ hrpsys_gazebo_configuration:
     - CHEST
 ## joint gain settings
   gains:
-    LLEG_HIP_R:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LLEG_HIP_P:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LLEG_HIP_Y:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LLEG_KNEE:       {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LLEG_ANKLE_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LLEG_ANKLE_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_R:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_P:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_Y:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RLEG_KNEE:       {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RLEG_ANKLE_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RLEG_ANKLE_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    WAIST_P:         {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    WAIST_R:         {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    CHEST:           {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_P: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_R: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_Y: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_ELBOW:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_Y:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_P: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_R: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_Y: {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_ELBOW:      {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_Y:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_P:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_R:    {p: 4000.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_R:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_P:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_Y:      {p: 1000.0, d:   5.0, i: 0.0, i_clamp: 0.0}
+    LLEG_KNEE:       {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
+    LLEG_ANKLE_P:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
+    LLEG_ANKLE_R:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_R:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_P:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_Y:      {p: 1000.0, d:   5.0, i: 0.0, i_clamp: 0.0}
+    RLEG_KNEE:       {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
+    RLEG_ANKLE_P:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
+    RLEG_ANKLE_R:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
+    WAIST_P:         {p: 4000.0, d:  40.0, i: 0.0, i_clamp: 0.0}
+    WAIST_R:         {p: 4000.0, d:  40.0, i: 0.0, i_clamp: 0.0}
+    CHEST:           {p: 1000.0, d:   5.0, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_P: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_R: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_Y: {p:  700.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LARM_ELBOW:      {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_Y:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_P:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_R:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_P: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_R: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_Y: {p: 800.0, d:    2.0, i: 0.0, i_clamp: 0.0}
+    RARM_ELBOW:      {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_Y:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_P:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_R:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
 ## force sensor settings
 ## list of force sensorname
   force_torque_sensors:

From 6eabeb5f0bf478db57f5132d4dc432e18d40b3cb Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 24 Aug 2013 08:29:09 +0000
Subject: [PATCH 044/306] modify inertia value in python script. inertia value
 from eus2collada in not correct.

---
 scripts/eus2urdf_for_gazebo_pyscript.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
index e030d64a..0ec4a9e5 100755
--- a/scripts/eus2urdf_for_gazebo_pyscript.py
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -39,6 +39,7 @@ def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True):
     os.system('sed -i -e \"1,/  <link /s/  <link /  <gazebo>\\n    <static>false<\/static>\\n  <\/gazebo>\\n  <link /\" %s' % urdf_path)
 
     # print "[eus2urdf] add inertia property to urdf   # Inertia value is not correct. Inertia should be added at eus2collada."
+    os.system('sed -i -e \"s@      <inertia ixx=\\\"1e-09\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1e-09\\\" iyz=\\\"0\\\" izz=\\\"1e-09\\\"/>@      <inertia ixx=\\\"1e-03\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1e-03\\\" iyz=\\\"0\\\" izz=\\\"1e-03\\\"/>@g\" %s' % urdf_path)
     # os.system('sed -i -e \"s@  </link>@    <inertial>\\n      <mass value=\\\"20\\\"/>\\n      <origin xyz=\\\"0 0 0.2\\\" rpy=\\\"0 0 0\\\"/>\\n      <inertia ixx=\\\"1\\\" ixy=\\\"0\\\" ixz=\\\"0\\\" iyy=\\\"1\\\" iyz=\\\"0\\\" izz=\\\"0\\\"/>\\n    </inertial>\\n  </link>@g\" %s' % urdf_path)
 
 

From b53cb3b99056299d4fed80be73ee303e5a3b2416 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 25 Aug 2013 06:41:05 +0000
Subject: [PATCH 045/306] added basic models for gazebo

---
 .../3d-coord-arrow/meshes/nil_link_mesh.dae   | 515 ++++++++++++++++++
 .../3d-coord-arrow/model.config               |  10 +
 environment_models/3d-coord-arrow/model.urdf  |  41 ++
 .../meshes/nil_link_mesh.dae                  | 515 ++++++++++++++++++
 .../3d-coord-arrow_static/model.config        |  10 +
 .../3d-coord-arrow_static/model.urdf          |  41 ++
 environment_models/manifest.xml               |   6 +
 .../simple-box/meshes/nil_link_mesh.dae       | 101 ++++
 environment_models/simple-box/model.config    |  10 +
 environment_models/simple-box/model.urdf      |  48 ++
 10 files changed, 1297 insertions(+)
 create mode 100644 environment_models/3d-coord-arrow/meshes/nil_link_mesh.dae
 create mode 100644 environment_models/3d-coord-arrow/model.config
 create mode 100644 environment_models/3d-coord-arrow/model.urdf
 create mode 100644 environment_models/3d-coord-arrow_static/meshes/nil_link_mesh.dae
 create mode 100644 environment_models/3d-coord-arrow_static/model.config
 create mode 100644 environment_models/3d-coord-arrow_static/model.urdf
 create mode 100644 environment_models/simple-box/meshes/nil_link_mesh.dae
 create mode 100644 environment_models/simple-box/model.config
 create mode 100644 environment_models/simple-box/model.urdf

diff --git a/environment_models/3d-coord-arrow/meshes/nil_link_mesh.dae b/environment_models/3d-coord-arrow/meshes/nil_link_mesh.dae
new file mode 100644
index 00000000..545c11bf
--- /dev/null
+++ b/environment_models/3d-coord-arrow/meshes/nil_link_mesh.dae
@@ -0,0 +1,515 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
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+            <ambient>
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+            <diffuse>
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+            <specular>
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+            <reflective>
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+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 1 2 3 0 2 4 3 2 5 4 2 6 5 2 7 6 2 8 7 2 9 8 2 10 9 2 11 10 2 12 11 2 13 12 2 14 13 2 2 15 14 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="meshId6" name="meshId6_name" >
+      <mesh>
+        <source id="meshId6-positions" name="meshId6-positions">
+          <float_array id="meshId6-positions-array" count="216"> -0.00833333 -0.0144338 0.14 -3.01981e-17 -0.0166667 0.14 0.00833333 -0.0144338 0.14 -0.0144338 -0.00833333 0.14 -0.0166667 2.04281e-17 0.14 -0.0144338 0.00833333 0.14 -0.00833333 0.0144338 0.14 9.76996e-18 0.0166667 0.14 0.00833333 0.0144338 0.14 0.0144338 0.00833333 0.14 0.0166667 0 0.14 0.0144338 -0.00833333 0.14 9.76996e-18 0.0166667 0 0.00833333 0.0144338 0 0.0144338 0.00833333 0 -0.00833333 0.0144338 0 -0.0144338 0.00833333 0 -0.0166667 2.04281e-17 0 -0.0144338 -0.00833333 0 -0.00833333 -0.0144338 0 -3.01981e-17 -0.0166667 0 0.00833333 -0.0144338 0 0.0144338 -0.00833333 0 0.0166667 0 0 0.0144338 -0.00833333 0 0.0166667 0 0 0.0166667 0 0.14 0.0144338 -0.00833333 0.14 0.00833333 -0.0144338 0 0.0144338 -0.00833333 0 0.0144338 -0.00833333 0.14 0.00833333 -0.0144338 0.14 -3.01981e-17 -0.0166667 0 0.00833333 -0.0144338 0 0.00833333 -0.0144338 0.14 -3.01981e-17 -0.0166667 0.14 -0.00833333 -0.0144338 0 -3.01981e-17 -0.0166667 0 -3.01981e-17 -0.0166667 0.14 -0.00833333 -0.0144338 0.14 -0.0144338 -0.00833333 0 -0.00833333 -0.0144338 0 -0.00833333 -0.0144338 0.14 -0.0144338 -0.00833333 0.14 -0.0166667 2.04281e-17 0 -0.0144338 -0.00833333 0 -0.0144338 -0.00833333 0.14 -0.0166667 2.04281e-17 0.14 -0.0144338 0.00833333 0 -0.0166667 2.04281e-17 0 -0.0166667 2.04281e-17 0.14 -0.0144338 0.00833333 0.14 -0.00833333 0.0144338 0 -0.0144338 0.00833333 0 -0.0144338 0.00833333 0.14 -0.00833333 0.0144338 0.14 9.76996e-18 0.0166667 0 -0.00833333 0.0144338 0 -0.00833333 0.0144338 0.14 9.76996e-18 0.0166667 0.14 0.00833333 0.0144338 0 9.76996e-18 0.0166667 0 9.76996e-18 0.0166667 0.14 0.00833333 0.0144338 0.14 0.0144338 0.00833333 0 0.00833333 0.0144338 0 0.00833333 0.0144338 0.14 0.0144338 0.00833333 0.14 0.0166667 0 0 0.0144338 0.00833333 0 0.0144338 0.00833333 0.14 0.0166667 0 0.14 </float_array>
+          <technique_common>
+            <accessor count="72" offset="0" source="#meshId6-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId6-normals" name="meshId6-normals">
+          <float_array id="meshId6-normals-array" count="216"> -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 0 1 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 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 0 -1 -0 0 -1 0 0 -1 0.965926 -0.258818 0 0.965926 -0.258818 0 0.965926 -0.258818 0 0.965926 -0.258818 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.707107 -0.707107 0 0.258818 -0.965926 0 0.258818 -0.965926 0 0.258818 -0.965926 0 0.258818 -0.965926 0 -0.258818 -0.965926 0 -0.258818 -0.965926 0 -0.258818 -0.965926 0 -0.258818 -0.965926 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.707107 -0.707107 0 -0.965926 -0.258818 0 -0.965926 -0.258818 0 -0.965926 -0.258818 0 -0.965926 -0.258818 0 -0.965926 0.258818 0 -0.965926 0.258818 0 -0.965926 0.258818 0 -0.965926 0.258818 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.707107 0.707107 0 -0.258818 0.965926 0 -0.258818 0.965926 0 -0.258818 0.965926 0 -0.258818 0.965926 0 0.258818 0.965926 0 0.258818 0.965926 0 0.258818 0.965926 0 0.258818 0.965926 0 0.707107 0.707107 0 0.707107 0.707107 0 0.707107 0.707107 0 0.707107 0.707107 0 0.965926 0.258818 0 0.965926 0.258818 0 0.965926 0.258818 0 0.965926 0.258818 0 </float_array>
+          <technique_common>
+            <accessor count="72" offset="0" source="#meshId6-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId6-vertices">
+          <input semantic="POSITION" source="#meshId6-positions" />
+          <input semantic="NORMAL" source="#meshId6-normals" />
+        </vertices>
+        <polylist count="44" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId6-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 1 2 3 0 2 4 3 2 5 4 2 6 5 2 7 6 2 8 7 2 9 8 2 10 9 2 2 11 10 12 13 14 15 12 14 16 15 14 17 16 14 18 17 14 19 18 14 20 19 14 21 20 14 22 21 14 14 23 22 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44 48 49 50 50 51 48 52 53 54 54 55 52 56 57 58 58 59 56 60 61 62 62 63 60 64 65 66 66 67 64 68 69 70 70 71 68 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="nil_link" name="nil_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId1">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m1blinn21" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId2">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m2blinn22" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId3">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m3blinn23" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId4">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m4blinn24" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId5">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m5blinn25" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId6">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m6blinn26" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/3d-coord-arrow/model.config b/environment_models/3d-coord-arrow/model.config
new file mode 100644
index 00000000..384d6b72
--- /dev/null
+++ b/environment_models/3d-coord-arrow/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>3d-coord-arrow</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/3d-coord-arrow/model.urdf b/environment_models/3d-coord-arrow/model.urdf
new file mode 100644
index 00000000..2f9c6c31
--- /dev/null
+++ b/environment_models/3d-coord-arrow/model.urdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot name="3d-coord-arrow-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://3d-coord-arrow/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://3d-coord-arrow/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/3d-coord-arrow_static/meshes/nil_link_mesh.dae b/environment_models/3d-coord-arrow_static/meshes/nil_link_mesh.dae
new file mode 100644
index 00000000..545c11bf
--- /dev/null
+++ b/environment_models/3d-coord-arrow_static/meshes/nil_link_mesh.dae
@@ -0,0 +1,515 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25   0.25   0.25   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.5   0.5   0.5   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="m1blinn21-fx" name="m1blinn21">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="m2blinn22-fx" name="m2blinn22">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="m3blinn23-fx" name="m3blinn23">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.0001   0.498047   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0   0.996094   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="m4blinn24-fx" name="m4blinn24">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.0001   0.498047   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0   0.996094   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="m5blinn25-fx" name="m5blinn25">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.0001   0.0001   0.498047   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0   0   0.996094   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="m6blinn26-fx" name="m6blinn26">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.0001   0.0001   0.498047   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0   0   0.996094   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+    <material id="m1blinn21" name="m1blinn21">
+      <instance_effect url="#m1blinn21-fx"/>
+    </material>
+    <material id="m2blinn22" name="m2blinn22">
+      <instance_effect url="#m2blinn22-fx"/>
+    </material>
+    <material id="m3blinn23" name="m3blinn23">
+      <instance_effect url="#m3blinn23-fx"/>
+    </material>
+    <material id="m4blinn24" name="m4blinn24">
+      <instance_effect url="#m4blinn24-fx"/>
+    </material>
+    <material id="m5blinn25" name="m5blinn25">
+      <instance_effect url="#m5blinn25-fx"/>
+    </material>
+    <material id="m6blinn26" name="m6blinn26">
+      <instance_effect url="#m6blinn26-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="72"> -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 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 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="72"> 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 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="meshId1" name="meshId1_name" >
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+          <instance_geometry url="#meshId6">
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+          </instance_geometry>
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+      </node>
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+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/3d-coord-arrow_static/model.config b/environment_models/3d-coord-arrow_static/model.config
new file mode 100644
index 00000000..384d6b72
--- /dev/null
+++ b/environment_models/3d-coord-arrow_static/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>3d-coord-arrow</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/3d-coord-arrow_static/model.urdf b/environment_models/3d-coord-arrow_static/model.urdf
new file mode 100644
index 00000000..b734040f
--- /dev/null
+++ b/environment_models/3d-coord-arrow_static/model.urdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot name="3d-coord-arrow-robot_static"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>true</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://3d-coord-arrow/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://3d-coord-arrow/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index 12618b51..150c0078 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -1,9 +1,15 @@
+<!-- automatically generated -->
 <?xml version="1.0" ?>
 <database>
   <name>hrpsys_gazebo</name>
   <license>Creative Commons Attribution 3.0 Unported</license>
 
   <models>
+    <uri>file://3d-coord-arrow</uri>
+    <uri>file://3d-coord-arrow_static</uri>
     <uri>file://cupboard</uri>
+    <uri>file://cupboard_fixed</uri>
+    <uri>file://cupboard_static</uri>
+    <uri>file://simple-box</uri>
   </models>
 </database>
diff --git a/environment_models/simple-box/meshes/nil_link_mesh.dae b/environment_models/simple-box/meshes/nil_link_mesh.dae
new file mode 100644
index 00000000..262b49d0
--- /dev/null
+++ b/environment_models/simple-box/meshes/nil_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.45   0.45   0.5   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.9   0.9   1   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="72"> -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 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="72"> 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 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="nil_link" name="nil_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/simple-box/model.config b/environment_models/simple-box/model.config
new file mode 100644
index 00000000..4bc82517
--- /dev/null
+++ b/environment_models/simple-box/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>simple-box</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/simple-box/model.urdf b/environment_models/simple-box/model.urdf
new file mode 100644
index 00000000..310800bd
--- /dev/null
+++ b/environment_models/simple-box/model.urdf
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<robot name="simple-box-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://simple-box/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://simple-box/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="20" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libAddForcePlugin.so" name="simple_box_add_force_plugin" >
+      <linkname>nil_link</linkname>
+      <force>0 0 0</force>
+      <torque>0 0 0.03</torque>
+    </plugin>
+  </gazebo>
+</robot>

From 438526c5cf237c01643709dec9e45cb17e00037b Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 27 Aug 2013 03:08:44 +0000
Subject: [PATCH 046/306] added simple-box world and launch files.

---
 launch/gazebo_simplebox.launch | 11 ++++++++++
 worlds/SimpleBox.world         | 39 ++++++++++++++++++++++++++++++++++
 2 files changed, 50 insertions(+)
 create mode 100644 launch/gazebo_simplebox.launch
 create mode 100644 worlds/SimpleBox.world

diff --git a/launch/gazebo_simplebox.launch b/launch/gazebo_simplebox.launch
new file mode 100644
index 00000000..60e3007a
--- /dev/null
+++ b/launch/gazebo_simplebox.launch
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="SimpleBox.world"/>
+  <!-- <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" /> -->
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" /> -->
+  </include>
+</launch>
diff --git a/worlds/SimpleBox.world b/worlds/SimpleBox.world
new file mode 100644
index 00000000..5be97fe8
--- /dev/null
+++ b/worlds/SimpleBox.world
@@ -0,0 +1,39 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://simple-box</uri>
+      <pose>0 0 0.73 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://3d-coord-arrow</uri>
+      <pose>1 0 0.73 0 0 0</pose>
+    </include>
+  </world>
+</sdf>

From 38b0359c9c3bb01ebfcda6432c18e7a42275a54a Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 27 Aug 2013 12:32:26 +0000
Subject: [PATCH 047/306] added euslisp scripts for plugin utility

---
 environment_models/simple-box/model.urdf |  12 +-
 euslisp/gazebo-plugin-utils.l            | 130 ++++++++++++++++++++++
 euslisp/manip-obj-search.l               | 135 +++++++++++++++++++++++
 3 files changed, 273 insertions(+), 4 deletions(-)
 create mode 100644 euslisp/gazebo-plugin-utils.l
 create mode 100644 euslisp/manip-obj-search.l

diff --git a/environment_models/simple-box/model.urdf b/environment_models/simple-box/model.urdf
index 310800bd..f3c503be 100644
--- a/environment_models/simple-box/model.urdf
+++ b/environment_models/simple-box/model.urdf
@@ -29,9 +29,9 @@
       </geometry>
     </collision>
     <inertial>
-      <mass value="20" />
+      <mass value="2" />
       <origin xyz="0 0 0" rpy="0 -0 0"/>
-      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
     </inertial>
   </link>
   <gazebo reference="nil_link">
@@ -41,8 +41,12 @@
   <gazebo>
     <plugin filename="libAddForcePlugin.so" name="simple_box_add_force_plugin" >
       <linkname>nil_link</linkname>
-      <force>0 0 0</force>
-      <torque>0 0 0.03</torque>
+    </plugin>
+    <plugin filename="libGetVelPlugin.so" name="simple_box_get_vel_plugin" >
+      <linkname>nil_link</linkname>
+    </plugin>
+    <plugin filename="libSetVelPlugin.so" name="simple_box_set_vel_plugin" >
+      <linkname>nil_link</linkname>
     </plugin>
   </gazebo>
 </robot>
diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
new file mode 100644
index 00000000..682a8f92
--- /dev/null
+++ b/euslisp/gazebo-plugin-utils.l
@@ -0,0 +1,130 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "geometry_msgs")
+
+
+(defun init-gazebo-plugin ()
+  (ros::roseus "GazeboPluginUtilsEus")
+  (init-add-force)
+  (init-set-vel)
+  (init-get-vel)
+)
+
+
+(defun init-add-force ()
+  (ros::roseus "AddForceEus")
+  (ros::advertise "AddForcePlugin/ForceCommand" geometry_msgs::wrench 1)
+  (ros::rate 100))
+
+(defun 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 "AddForcePlugin/ForceCommand" msg))
+  )
+(defun reset-force ()
+  (add-force (float-vector 0 0 0)))
+
+(defun init-get-vel ()
+  (ros::roseus "GetVelEus")
+
+  (setq *abs-vel* nil)
+  (setq *abs-accel* nil)
+  (setq *rel-vel* nil)
+  (setq *rel-accel* nil)
+  (setq *pose* nil)
+  (ros::subscribe "/GetVelPlugin/AbsVel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *abs-vel* msg)))
+  (ros::subscribe "/GetVelPlugin/AbsAccel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *abs-accel* msg)))
+  (ros::subscribe "/GetVelPlugin/RelVel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *rel-vel* msg)))
+  (ros::subscribe "/GetVelPlugin/RelAccel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *rel-accel* msg)))
+  (ros::subscribe "/GetVelPlugin/Pose" geometry_msgs::PoseStamped #'(lambda (msg) (setq *pose* msg)))
+  )
+
+(defun get-abs-vel ()
+  (ros::spin-once)
+  *abs-vel*)
+(defun get-abs-accel ()
+  (ros::spin-once)
+  *abs-accel*)
+(defun get-rel-vel ()
+  (ros::spin-once)
+  *rel-vel*)
+(defun get-rel-accel ()
+  (ros::spin-once)
+  *rel-accel*)
+
+(defun get-time-vel (&optional (vel (get-rel-vel)))
+  (send (send (send vel :header) :stamp) :to-sec))
+(defun get-linear-vel (&optional (vel (get-rel-vel)))
+  (rosvector32eusvector (send (send vel :twist) :linear)))
+(defun get-angular-vel (&optional (vel (get-rel-vel)))
+  (rosvector32eusvector (send (send vel :twist) :angular)))
+(defun get-pose ()
+  (ros::spin-once)
+  (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)
+    ))
+
+
+(defun init-set-vel ()
+  (ros::roseus "SetVelEus")
+  (ros::advertise "/SetVelPlugin/PoseCommand" geometry_msgs::pose 1)
+  (ros::rate 100))
+
+(defun 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 "/SetVelPlugin/PoseCommand" msg))
+  )
+
+
+
+(defun reset-world ()
+  (reset-force)
+  (set-pose))
+
+
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; samples
+
+(defun tilt-box-by-pd-control (&optional (dest-pitch (/ pi 6)))
+  (do-until-key
+   (let* ((dest-pitch-angle dest-pitch)
+	  (crnt-pitch-angle (elt (car (rpy-angle (send (get-pose) :rot))) 1))
+	  (diff-pitch-angle (- dest-pitch-angle crnt-pitch-angle))
+	  (crnt-dpitch-angle (elt (get-angular-vel (get-abs-vel)) 1))
+	  (p-gain 150)
+	  (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)))
+     (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/euslisp/manip-obj-search.l b/euslisp/manip-obj-search.l
new file mode 100644
index 00000000..991ca4dc
--- /dev/null
+++ b/euslisp/manip-obj-search.l
@@ -0,0 +1,135 @@
+#-:jsk
+(jsk)
+#-:rbrain-basic
+(rbrain)
+
+(load "package://hrpsys_gazebo_tutorials/euslisp/gazebo-plugin-utils")
+(load "package://euslib/demo/s-noda/hrp2/my-util.l")
+
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; 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)

From 5fad9eaa149bcdd3528446bc8bde8ab15f5bf312 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 27 Aug 2013 13:29:08 +0000
Subject: [PATCH 048/306] set USE_WALKING:=true at default
 robot_hrpsys_bringup.launch in hrpsys_gazebo_tutorials

---
 launch/robot_hrpsys_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index b6031f2a..570d18f8 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -30,7 +30,7 @@
     <!-- settings -->
     <arg name="USE_COMMON" default="true" />
     <arg name="USE_ROBOTHARDWARE" default="true" />
-    <arg name="USE_WALKING" default="false" />
+    <arg name="USE_WALKING" default="true" />
     <arg name="USE_COLLISIONCHECK" default="true" />
     <arg name="USE_IMPEDANCECONTROLLER" default="false" />
     <arg name="USE_SOFTERRORLIMIT" default="true" />

From 4176a4271504feb0d2235c7b66ed252c0bd7acb5 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 27 Aug 2013 13:39:46 +0000
Subject: [PATCH 049/306] add loading robot_description and launching
 robot_state_publisher

---
 launch/gazebo_robot_no_controllers.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index 9d1227ae..a6b8144a 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -2,9 +2,9 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="SampleRobot.world"/>
   <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
+  <arg name="ROBOT_MODEL" default="$(find SampleRobot)/SampleRobot.urdf" />
 
   <arg name="PAUSED" default="false"/>
-  <arg name="ROBOT_MODEL" default="" />
 
   <arg if="$(arg PAUSED)"
        name="paused" value="_paused" />
@@ -18,7 +18,7 @@
 
   <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
   <!-- Robot Description -->
-  <!--
+
   <param name="robot_description" textfile="$(arg ROBOT_MODEL)"/>
-  -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publiser" />
 </launch>

From aae87349c510a934dba1972bab4d408bac261342 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 27 Aug 2013 14:20:34 +0000
Subject: [PATCH 050/306] update joint parameters of sample robot

---
 config/samplerobot.yaml | 58 ++++++++++++++++++++---------------------
 1 file changed, 29 insertions(+), 29 deletions(-)

diff --git a/config/samplerobot.yaml b/config/samplerobot.yaml
index 41638ed6..330a6975 100644
--- a/config/samplerobot.yaml
+++ b/config/samplerobot.yaml
@@ -36,35 +36,35 @@ hrpsys_gazebo_configuration:
     - CHEST
 ## joint gain settings
   gains:
-    LLEG_HIP_R:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
-    LLEG_HIP_P:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
-    LLEG_HIP_Y:      {p: 1000.0, d:   5.0, i: 0.0, i_clamp: 0.0}
-    LLEG_KNEE:       {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
-    LLEG_ANKLE_P:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
-    LLEG_ANKLE_R:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_R:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_P:      {p: 4000.0, d:  20.0, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_Y:      {p: 1000.0, d:   5.0, i: 0.0, i_clamp: 0.0}
-    RLEG_KNEE:       {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
-    RLEG_ANKLE_P:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
-    RLEG_ANKLE_R:    {p: 2000.0, d:   5.4, i: 0.0, i_clamp: 0.0}
-    WAIST_P:         {p: 4000.0, d:  40.0, i: 0.0, i_clamp: 0.0}
-    WAIST_R:         {p: 4000.0, d:  40.0, i: 0.0, i_clamp: 0.0}
-    CHEST:           {p: 1000.0, d:   5.0, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_P: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_R: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_Y: {p:  700.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LARM_ELBOW:      {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_Y:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_P:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_R:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_P: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_R: {p: 1400.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_Y: {p: 800.0, d:    2.0, i: 0.0, i_clamp: 0.0}
-    RARM_ELBOW:      {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_Y:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_P:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_R:    {p: 400.0, d:    0.8, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_R:      {p: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_P:      {p: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
+    LLEG_HIP_Y:      {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LLEG_KNEE:       {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
+    LLEG_ANKLE_P:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    LLEG_ANKLE_R:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_R:      {p: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_P:      {p: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
+    RLEG_HIP_Y:      {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RLEG_KNEE:       {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
+    RLEG_ANKLE_P:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RLEG_ANKLE_R:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    WAIST_P:         {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    WAIST_R:         {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    CHEST:           {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    LARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, i_clamp: 0.0}
+    LARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_R:    {p:  150.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    RARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, i_clamp: 0.0}
+    RARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_R:    {p:  150.0, d:   0.1, i: 0.0, i_clamp: 0.0}
 ## force sensor settings
 ## list of force sensorname
   force_torque_sensors:

From 78c2f07d21673b494fd60f0bdeae8ab2c1485ada Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 28 Aug 2013 10:24:00 +0000
Subject: [PATCH 051/306] fix typo

---
 launch/gazebo_robot_no_controllers.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index a6b8144a..46d0dbd1 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -20,5 +20,5 @@
   <!-- Robot Description -->
 
   <param name="robot_description" textfile="$(arg ROBOT_MODEL)"/>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publiser" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 </launch>

From b64f1ad04d123b83d56fc893c614e9b0a7dae990 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 29 Aug 2013 06:35:22 +0000
Subject: [PATCH 052/306] remove virtual link for samplerobot

---
 robot_models/SampleRobot/install_robot.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index af0c94aa..2c9321d7 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -7,7 +7,7 @@ if [ ! -e hrpsys ]; then
 ## add Plugin settings
     sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 ## add IMU sensor (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <link name="gyrometer" />\n  <joint name="gyrometer_jnt" type="fixed">\n    <parent link="WAIST_LINK0"/>\n    <child  link="gyrometer"/>\n  </joint>\n  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+    sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 ## add forse sensors (TODO: sensors should be added when converting from collada file)
     sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 # continuous joint not working in GAZEBO

From 13c3d4611c299b8f3f15d3928fcd318f2efd5875 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 30 Aug 2013 06:56:28 +0000
Subject: [PATCH 053/306] update hrp2jsk paremeter for gazebo

---
 config/hrp2jsk.yaml | 79 ++++++++++++++++++++++-----------------------
 1 file changed, 39 insertions(+), 40 deletions(-)

diff --git a/config/hrp2jsk.yaml b/config/hrp2jsk.yaml
index d67c2e3f..e5057817 100644
--- a/config/hrp2jsk.yaml
+++ b/config/hrp2jsk.yaml
@@ -1,6 +1,6 @@
 hrpsys_gazebo_configuration:
   robotname: HRP2JSK
-##
+  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:
     - RLEG_JOINT0
     - RLEG_JOINT1
@@ -34,53 +34,52 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT5
     - LARM_JOINT6
     - LARM_JOINT7
-## jointid:
   gains:
-    CHEST_JOINT0: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    CHEST_JOINT1: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT0: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT1: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT0: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT1: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT2: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT3: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT4: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT5: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT6: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT7: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT0: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT1: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT2: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT3: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT4: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT5: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT6: {p: 700.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT7: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT0: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT1: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT2: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT3: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT4: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT5: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT0: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT1: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT2: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT3: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT4: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT5: {p: 5000.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-##
+    CHEST_JOINT0: {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
+    CHEST_JOINT1: {p: 1000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT0:  {p:  150.0, d:   0.5, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT1:  {p:  700.0, d:   1.5, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT0:  {p:  800.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT1:  {p: 1200.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT2:  {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT3:  {p: 2500.0, d:  12.5, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT4:  {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT5:  {p: 1000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT0:  {p:  800.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT1:  {p: 1200.0, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT2:  {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT3:  {p: 2500.0, d:  12.5, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT4:  {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT5:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
   force_torque_sensors:
     - lfsensor
     - rfsensor 
     - lhsensor
     - rhsensor 
   force_torque_sensors_config:
-    lfsensor: {joint_name: 'LLEG_JOINT6', frame_id: 'LLEG_LINK6'}
-    rfsensor: {joint_name: 'RLEG_JOINT6', frame_id: 'RLEG_LINK6'}
+## TODO: add translation and rotation
+    lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5'}
+    rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5'}
     lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6'}
     rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6'}
-##
   imu_sensors:
     - imu_sensor0
-  imu_sensors:
-    imu_sensor0: {name: 'waist_imu', link_name: 'CHEST_LINK0', frame_id: 'WAIST_LINK0'}
+  imu_sensors_config:
+## TODO: add translation and rotation
+    imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'}

From 58be6683fc2ff55fbd19ecb8d497ff3f7e849ac6 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 30 Aug 2013 07:43:25 +0000
Subject: [PATCH 054/306] add sensor setting and change foot parameters at
 HRP2JSK

---
 robot_models/HRP2JSK/install_robot.sh | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/robot_models/HRP2JSK/install_robot.sh b/robot_models/HRP2JSK/install_robot.sh
index fd0da6b3..1b12f20c 100755
--- a/robot_models/HRP2JSK/install_robot.sh
+++ b/robot_models/HRP2JSK/install_robot.sh
@@ -4,8 +4,18 @@ if [ ! -e hrpsys ]; then
 ##
     mkdir meshes
     rosrun collada_tools collada_to_urdf $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://HRP2JSK/meshes'
-##
+## add Plugin settings
     sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSK</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' HRP2JSK.urdf
+## add IMU sensor (TODO: sensors should be added when converting from collada file)
+    sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' HRP2JSK.urdf
+## add force sensors (TODO: sensors should be added when converting from collada file)
+    sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' HRP2JSK.urdf
+## change foot parameters
+    sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' HRP2JSK.urdf
+    sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' HRP2JSK.urdf
+## change foot geometry mesh -> box
+    sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSK/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' HRP2JSK.urdf
+    sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSK/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' HRP2JSK.urdf
 # continuous joint not working in GAZEBO
     sed -i -e 's@continuous@revolute@g' HRP2JSK.urdf
 

From e489b9cf8651c7097eb71a298c8931dca2c5db2f Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 30 Aug 2013 11:21:18 +0000
Subject: [PATCH 055/306] add foot parameters to SampleRobot

---
 robot_models/SampleRobot/install_robot.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index 2c9321d7..a55f133f 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -10,6 +10,9 @@ if [ ! -e hrpsys ]; then
     sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
 ## add forse sensors (TODO: sensors should be added when converting from collada file)
     sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+## change foot parameters
+    sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' SampleRobot.urdf
+    sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' SampleRobot.urdf
 # continuous joint not working in GAZEBO
     sed -i -e 's@continuous@revolute@g' SampleRobot.urdf
 

From ae4c17a5ce0921f0474c5a0dec6a4deb332f9d9a Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 31 Aug 2013 13:31:21 +0000
Subject: [PATCH 056/306] merge launch file for removing duplicateted launch
 scripts

---
 launch/gazebo_hrp2jsk_no_controllers.launch              | 6 ++++--
 .../gazebo_hrp2jsk_no_controllers_with_cupboard.launch   | 9 ++++-----
 launch/gazebo_robot_no_controllers.launch                | 3 +--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/launch/gazebo_hrp2jsk_no_controllers.launch b/launch/gazebo_hrp2jsk_no_controllers.launch
index f7dc920f..116a7a0c 100644
--- a/launch/gazebo_hrp2jsk_no_controllers.launch
+++ b/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -1,11 +1,13 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="HRP2JSK.world"/>
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" />
+  <arg name="PAUSED" default="false"/>
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" />
+    <arg name="ROBOT_MODEL" value="$(find HRP2JSK)/HRP2JSK.urdf" />
   </include>
 </launch>
diff --git a/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch b/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
index a6ac0083..3eeeb934 100644
--- a/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
+++ b/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
@@ -1,11 +1,10 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSK_cupboard.world"/>
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" />
+  <arg name="PAUSED" default="false"/>
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_hrp2jsk_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD" value="$(arg WORLD)" />
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <arg name="WORLD" value="HRP2JSK_cupboard.world"/>
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
   </include>
 </launch>
diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index 46d0dbd1..6d453354 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -2,8 +2,7 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="SampleRobot.world"/>
   <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
-  <arg name="ROBOT_MODEL" default="$(find SampleRobot)/SampleRobot.urdf" />
-
+  <arg name="ROBOT_MODEL" default="$(find SampleRobot)/SampleRobot.urdf" />b
   <arg name="PAUSED" default="false"/>
 
   <arg if="$(arg PAUSED)"

From c639fe5f13fd6a680311d62c16168799c30b4f6e Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 31 Aug 2013 13:52:27 +0000
Subject: [PATCH 057/306] add loading joint group

---
 launch/hrp2jsk_hrpsys_bringup.launch     | 5 +++--
 launch/samplerobot_hrpsys_bringup.launch | 8 ++++++++
 2 files changed, 11 insertions(+), 2 deletions(-)
 create mode 100644 launch/samplerobot_hrpsys_bringup.launch

diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index b76a64ca..f5dc60f1 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -1,7 +1,8 @@
 <launch>
-  <arg name="ROBOT_NAME" default="HRP2JSK" />
+  <rosparam command="load"
+            file="$(find jsk_hrpsys_ros_bridge)/models/HRP2JSK_controller_config.yaml" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
+    <arg name="ROBOT_NAME" value="HRP2JSK" />
   </include>
 </launch>
diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
new file mode 100644
index 00000000..4a740c75
--- /dev/null
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -0,0 +1,8 @@
+<launch>
+  <rosparam command="load"
+            file="$(find hrpsys_ros_bridge_tutorials)/models/SampleRobot_controller_config.yaml" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_NAME" default="SampleRobot" />
+  </include>
+</launch>

From 1fe5938077fb7305f17a0f9642ca08cc29d63275 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 31 Aug 2013 13:54:07 +0000
Subject: [PATCH 058/306] update gazebo launch in hrpsys_gazebo_tutorials

---
 launch/gazebo_launch_source.launch                       | 9 ++++-----
 ...azebo_samplerobot_no_controllers_with_cupboard.launch | 9 ++++-----
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/launch/gazebo_launch_source.launch b/launch/gazebo_launch_source.launch
index 29db4e73..97085092 100644
--- a/launch/gazebo_launch_source.launch
+++ b/launch/gazebo_launch_source.launch
@@ -1,11 +1,10 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="__world_name__"/>
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/__robot_name__.yaml" />
+  <arg name="PAUSED" default="false"/>
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo___robot_name___no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD" value="$(arg WORLD)" />
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <arg name="WORLD"  value="__world_name__"/>
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
   </include>
 </launch>
diff --git a/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch b/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch
index 98e14bff..b5340554 100644
--- a/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch
+++ b/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch
@@ -1,11 +1,10 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="SampleRobot_cupboard.world"/>
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
+  <arg name="PAUSED" default="false"/>
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_samplerobot_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD" value="$(arg WORLD)" />
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <arg name="WORLD"  value="SampleRobot_cupboard.world"/>
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
   </include>
 </launch>

From ed1fe43413af1cc6a2b50e0a404021fc74eb55aa Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 31 Aug 2013 15:38:50 +0000
Subject: [PATCH 059/306] add for gazebo launch for sample robot

---
 launch/gazebo_samplerobot_no_controllers.launch | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 launch/gazebo_samplerobot_no_controllers.launch

diff --git a/launch/gazebo_samplerobot_no_controllers.launch b/launch/gazebo_samplerobot_no_controllers.launch
new file mode 100644
index 00000000..2ec8f316
--- /dev/null
+++ b/launch/gazebo_samplerobot_no_controllers.launch
@@ -0,0 +1,13 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="SampleRobot.world"/>
+  <arg name="PAUSED" default="false"/>
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
+    <arg name="ROBOT_MODEL" value="$(find SampleRobot)/SampleRobot.urdf" />
+  </include>
+</launch>

From 6d0dbb392f2cfd9d4c968772e0bc5212af971ea6 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 31 Aug 2013 18:11:57 +0000
Subject: [PATCH 060/306] modify for generating HRP2JSK world models

---
 euslisp/hrpsys-gazebo-utils.l | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 2ff12448..a7b31900 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -84,7 +84,8 @@
       (warn "[ERROR] room (~a) is not room the model.~%" name)
       (return-from generate-room-models))
     ;; convert room models
-    (eus2urdf-room-for-gazebo room :make-static t :make-fixed t :make-world-file t :make-launch-file t)
+    (dolist (r (list "SampleRobot" "HRP2JSK"))
+      (eus2urdf-room-for-gazebo room :robot-name r
+                                :make-static t :make-fixed t :make-world-file t :make-launch-file t))
     ))
 (warn "(generate-room-models \"room73b2\")~%")
-

From 272bb1b33a7b84aa35f56f922b173cb64c609d1a Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 7 Sep 2013 12:36:14 +0000
Subject: [PATCH 061/306] implementing function for searching manipulation

---
 euslisp/manip-obj-search.l | 166 +++++++++++++++++++++++++++++++++++++
 1 file changed, 166 insertions(+)

diff --git a/euslisp/manip-obj-search.l b/euslisp/manip-obj-search.l
index 991ca4dc..426c967e 100644
--- a/euslisp/manip-obj-search.l
+++ b/euslisp/manip-obj-search.l
@@ -7,6 +7,172 @@
 (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 test ()
+  (let* ((learning-elenum 20)
+	 (learning-cnt 100)
+	 (total-frame 100)
+	 (frame-dt 50)
+	 (fx-max 20.0) (fx-min (- fx-max))
+	 (fy-max 20.0) (fy-min (- fy-max))
+	 (fz-max 20.0) (fz-min (- fz-max))
+	 (mx-max 0.50) (mx-min (- mx-max))
+	 (my-max 0.50) (my-min (- my-max))
+	 (mz-max 0.50) (mz-min (- mz-max))
+	 (fm-seq-list nil))
+    ;; 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)
+	     (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))
+	    ;; loop of time
+	    (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-world)
+	  ;;; end of loop of time
+	    ;; calc evaluation value of object pose
+	    (let* ((x-max *inf*) (x-min -1)
+		   (y-max 1) (y-min -1)
+		   (z-max 2) (z-min 0)
+		   (roll-max 30) (roll-min -30)
+		   (pitch-max 30) (pitch-min -30)
+		   (yaw-max 30) (yaw-min -30)
+		   (rpy-w 0.05)
+		   (x-dir-w 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)))
+		(setq learning-eval-value
+		      (+
+		       ;; in range evaluation
+		       (- (+ (range-square crnt-x x-max x-min)
+			     (range-square crnt-y y-max y-min)
+			     (range-square crnt-z z-max z-min)))
+		       (- (* rpy-w
+			     (+ (range-square crnt-roll roll-max roll-min)
+				(range-square crnt-pitch pitch-max pitch-min)
+				(range-square crnt-yaw yaw-max yaw-min))))
+		       ;; x direction evaluation
+		       (* x-dir-w (ss-square crnt-x))
+		       ))
+		))
+	    (warning-message 2 "  learning-eval-value: ~a~%" learning-eval-value)
+	    (push-back learning-eval-value learning-eval-list)
+	    ))
+	;;; end of loop of gene
+	(warning-message 3 "learning-eval-value: ~a~%" 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))
+	  (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)
+	  (dotimes (i learning-elenum)
+	    (cond
+	     ((< (random 1.0) 0.5)
+	      ;; crossing
+	      (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-idx (random-in-range 0 (length fm-seq1))))
+		(push-back (append (subseq fm-seq1 0 cross-idx) (subseq fm-seq2 cross-idx (length fm-seq1))) fm-seq-list-next)))
+	     (t
+	      ;; copy
+	      (push-back (elt fm-seq-list (get-random-idx-from-cum-ratio-list select-cum-ratio-list)) fm-seq-list-next))
+	     )))
+	))
+      ;;; end of loop of learning cycle
+    ))
+
+
+
+
+(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))
+
+
+
+
+
+
+
+
+
+
+
+
+
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ;; init
 

From 84315060c6e483504bdde00f2f93bc95bbf4c38f Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 9 Sep 2013 07:04:13 +0000
Subject: [PATCH 062/306] implementing searching manipulation function

---
 euslisp/manip-obj-search.l | 229 ++++++++++++++++++++++++++++---------
 1 file changed, 172 insertions(+), 57 deletions(-)

diff --git a/euslisp/manip-obj-search.l b/euslisp/manip-obj-search.l
index 426c967e..76a68224 100644
--- a/euslisp/manip-obj-search.l
+++ b/euslisp/manip-obj-search.l
@@ -30,19 +30,45 @@
 	(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 20)
+  (let* ((learning-elenum 40)
 	 (learning-cnt 100)
-	 (total-frame 100)
-	 (frame-dt 50)
-	 (fx-max 20.0) (fx-min (- fx-max))
-	 (fy-max 20.0) (fy-min (- fy-max))
-	 (fz-max 20.0) (fz-min (- fz-max))
-	 (mx-max 0.50) (mx-min (- mx-max))
-	 (my-max 0.50) (my-min (- my-max))
-	 (mz-max 0.50) (mz-min (- mz-max))
-	 (fm-seq-list nil))
+	 (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))
@@ -58,32 +84,55 @@
     (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))
+	  (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)))
+	      (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))))
-	    (reset-world)
+		(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 -1)
-		   (y-max 1) (y-min -1)
-		   (z-max 2) (z-min 0)
-		   (roll-max 30) (roll-min -30)
-		   (pitch-max 30) (pitch-min -30)
-		   (yaw-max 30) (yaw-min -30)
-		   (rpy-w 0.05)
-		   (x-dir-w 10))
+	    (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))))))
@@ -92,58 +141,124 @@
 		     (crnt-z (elt crnt-pos 2))
 		     (crnt-roll (elt crnt-rpy 0))
 		     (crnt-pitch (elt crnt-rpy 1))
-		     (crnt-yaw (elt crnt-rpy 2)))
-		(setq learning-eval-value
-		      (+
-		       ;; in range evaluation
-		       (- (+ (range-square crnt-x x-max x-min)
-			     (range-square crnt-y y-max y-min)
-			     (range-square crnt-z z-max z-min)))
-		       (- (* rpy-w
-			     (+ (range-square crnt-roll roll-max roll-min)
-				(range-square crnt-pitch pitch-max pitch-min)
-				(range-square crnt-yaw yaw-max yaw-min))))
-		       ;; x direction evaluation
-		       (* x-dir-w (ss-square crnt-x))
-		       ))
-		))
-	    (warning-message 2 "  learning-eval-value: ~a~%" learning-eval-value)
-	    (push-back learning-eval-value learning-eval-list)
+		     (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
-	(warning-message 3 "learning-eval-value: ~a~%" learning-eval-list)
+	(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)
+	  ;; (warning-message 3 "select-ratio-list: ~a~%" select-ratio-list)
 	  )
 	;; genetic manipulation
 	(let* ((select-cum-ratio-list select-ratio-list)
-	       (fm-seq-list-next))
+	       (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)
-	  (dotimes (i learning-elenum)
-	    (cond
-	     ((< (random 1.0) 0.5)
-	      ;; crossing
-	      (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-idx (random-in-range 0 (length fm-seq1))))
-		(push-back (append (subseq fm-seq1 0 cross-idx) (subseq fm-seq2 cross-idx (length fm-seq1))) fm-seq-list-next)))
-	     (t
-	      ;; copy
-	      (push-back (elt fm-seq-list (get-random-idx-from-cum-ratio-list select-cum-ratio-list)) fm-seq-list-next))
-	     )))
+	  ;; (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)
@@ -161,8 +276,8 @@
     (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*))
 
 
 

From e46f452eabe4f00841588cbe80335d3720b49072 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 25 Sep 2013 12:42:01 +0000
Subject: [PATCH 063/306] tuned the parameter of pid

---
 config/hrp2jsk.yaml | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/config/hrp2jsk.yaml b/config/hrp2jsk.yaml
index e5057817..a86e23da 100644
--- a/config/hrp2jsk.yaml
+++ b/config/hrp2jsk.yaml
@@ -55,18 +55,18 @@ hrpsys_gazebo_configuration:
     RARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
     RARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
     RARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT0:  {p:  800.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT1:  {p: 1200.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT2:  {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT3:  {p: 2500.0, d:  12.5, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT4:  {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT5:  {p: 1000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT0:  {p:  800.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT1:  {p: 1200.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT2:  {p: 3000.0, d:  15.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT3:  {p: 2500.0, d:  12.5, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT4:  {p: 2000.0, d:  10.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT5:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 10.0}
+    LLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 10.0}
+    LLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 10.0}
+    LLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 10.0}
+    LLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 10.0}
+    LLEG_JOINT5:  {p: 1600.0, d:   4.0, i: 0.0, i_clamp: 10.0}
+    RLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 10.0}
+    RLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 10.0}
+    RLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 10.0}
+    RLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 10.0}
+    RLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 10.0}
+    RLEG_JOINT5:  {p: 1600.0, d:   2.0, i: 0.0, i_clamp: 10.0}
   force_torque_sensors:
     - lfsensor
     - rfsensor 
@@ -74,10 +74,10 @@ hrpsys_gazebo_configuration:
     - rhsensor 
   force_torque_sensors_config:
 ## TODO: add translation and rotation
-    lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5'}
-    rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5'}
-    lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6'}
-    rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6'}
+    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:

From 0e18285b23e13284c1ba3f03d0151a2517e4cf21 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 10:56:46 +0000
Subject: [PATCH 064/306] add Makefile and CMakeLists.txt

---
 CMakeLists.txt | 30 ++++++++++++++++++++++++++++++
 Makefile       |  1 +
 2 files changed, 31 insertions(+)
 create mode 100644 CMakeLists.txt
 create mode 100644 Makefile

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 00000000..f8f1c9cc
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,30 @@
+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 ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${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/Makefile b/Makefile
new file mode 100644
index 00000000..b75b928f
--- /dev/null
+++ b/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

From b84ca1ccfce6c475a68e356eee5043ccc4baeb5e Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 11:00:06 +0000
Subject: [PATCH 065/306] use hrpsys_gazebo_tutorials package instead of robot
 independent package

---
 launch/gazebo_hrp2jsk_no_controllers.launch     | 2 +-
 launch/gazebo_robot_no_controllers.launch       | 2 +-
 launch/gazebo_samplerobot_no_controllers.launch | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/gazebo_hrp2jsk_no_controllers.launch b/launch/gazebo_hrp2jsk_no_controllers.launch
index 116a7a0c..09a97b91 100644
--- a/launch/gazebo_hrp2jsk_no_controllers.launch
+++ b/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -8,6 +8,6 @@
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
     <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find HRP2JSK)/HRP2JSK.urdf" />
+    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" />
   </include>
 </launch>
diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index 6d453354..55573348 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -2,7 +2,7 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="SampleRobot.world"/>
   <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
-  <arg name="ROBOT_MODEL" default="$(find SampleRobot)/SampleRobot.urdf" />b
+  <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
   <arg name="PAUSED" default="false"/>
 
   <arg if="$(arg PAUSED)"
diff --git a/launch/gazebo_samplerobot_no_controllers.launch b/launch/gazebo_samplerobot_no_controllers.launch
index 2ec8f316..4f9b7494 100644
--- a/launch/gazebo_samplerobot_no_controllers.launch
+++ b/launch/gazebo_samplerobot_no_controllers.launch
@@ -8,6 +8,6 @@
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
     <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find SampleRobot)/SampleRobot.urdf" />
+    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
   </include>
 </launch>

From 8cf05308c6fd859ae7e9c5e2ab7379db6d50a92b Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 13:07:30 +0000
Subject: [PATCH 066/306] comment out adding of ROS_PACKAGE_PATH from setup.sh
 because of r5607

---
 setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index e4c468a6..665f8e7f 100644
--- a/setup.sh
+++ b/setup.sh
@@ -2,7 +2,7 @@ pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
-    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
+#    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
     export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH

From 77a4170577e86c9461855e786997330fbbb45028 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 13:51:59 +0000
Subject: [PATCH 067/306] specify output directory for install_robot.sh

---
 robot_models/SampleRobot/install_robot.sh | 31 +++++++++++++----------
 1 file changed, 17 insertions(+), 14 deletions(-)

diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index a55f133f..ddf6baf1 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -1,24 +1,27 @@
 #!/bin/bash
 
-if [ ! -e hrpsys ]; then
+OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/SampleRobot
+OUTPUT_FILE=${OUTPUT_DIR}/SampleRobot.urdf
+
+if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
 ##
-    mkdir meshes
-    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://SampleRobot/meshes'
+    mkdir ${OUTPUT_DIR}/meshes
+    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix 'package://SampleRobot/meshes' --output_file=${OUTPUT_FILE}
 ## add Plugin settings
-    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 ## add IMU sensor (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+    sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 ## add forse sensors (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' SampleRobot.urdf
+    sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 ## change foot parameters
-    sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' SampleRobot.urdf
-    sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' SampleRobot.urdf
+    sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+    sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
-    sed -i -e 's@continuous@revolute@g' SampleRobot.urdf
+    sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
-    mkdir hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.conf hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.RobotHardware.conf hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot_nosim.xml hrpsys
+    mkdir ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot_nosim.xml ${OUTPUT_DIR}/hrpsys
 fi

From ced33a8b31c897f0834ebfa8053132c036499f56 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 14:04:13 +0000
Subject: [PATCH 068/306] add --force option for install_robot.sh

---
 robot_models/SampleRobot/install_robot.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index ddf6baf1..e32ad732 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -3,7 +3,7 @@
 OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/SampleRobot
 OUTPUT_FILE=${OUTPUT_DIR}/SampleRobot.urdf
 
-if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
+if [ ! -e ${OUTPUT_DIR}/hrpsys -o "$1" = "--force" ]; then
 ##
     mkdir ${OUTPUT_DIR}/meshes
     rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix 'package://SampleRobot/meshes' --output_file=${OUTPUT_FILE}

From 64858c0ad56262bad7ed7174750a2d5caae14fe7 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 14:04:38 +0000
Subject: [PATCH 069/306] execute install_robot.sh in make or rosmake

---
 CMakeLists.txt | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f8f1c9cc..e59e5bc9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,25 @@ 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}/SampleRobot.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 ${_out_dir}/install_robot.sh --force
+    DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes)
+  add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
+  list(APPEND compile_robots ${_robot_name}_compile)
+endmacro()
+
+generate_gazebo_urdf_file(SampleRobot)
+
+add_custom_target(all_robots_compile ALL DEPENDS ${compile_robots})
+
+
 #uncomment if you have defined messages
 #rosbuild_genmsg()
 #uncomment if you have defined services

From 1e3d6ac37a635722750c07b7c18912e27363cb64 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 14:44:28 +0000
Subject: [PATCH 070/306] remove --force option and use ROBOT_NAME in
 install_robot.sh

---
 CMakeLists.txt                            |  2 +-
 robot_models/SampleRobot/install_robot.sh | 23 +++++++++++++----------
 2 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e59e5bc9..8fa5c169 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,7 +24,7 @@ macro (generate_gazebo_urdf_file _robot_name)
   add_custom_command(OUTPUT ${_out_dir}/hrpsys
     COMMAND mkdir ${_out_dir}/hrpsys)
   add_custom_command(OUTPUT ${_out_urdf_file}
-    COMMAND ${_out_dir}/install_robot.sh --force
+    COMMAND ${_out_dir}/install_robot.sh
     DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes)
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   list(APPEND compile_robots ${_robot_name}_compile)
diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index e32ad732..30dced42 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -1,12 +1,13 @@
 #!/bin/bash
 
-OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/SampleRobot
-OUTPUT_FILE=${OUTPUT_DIR}/SampleRobot.urdf
+ROBOT_NAME=SampleRobot
+OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
+OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
 
-if [ ! -e ${OUTPUT_DIR}/hrpsys -o "$1" = "--force" ]; then
+if [ ! -e ${OUTPUT_FILE} ]; then
 ##
-    mkdir ${OUTPUT_DIR}/meshes
-    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix 'package://SampleRobot/meshes' --output_file=${OUTPUT_FILE}
+    mkdir -p ${OUTPUT_DIR}/meshes
+    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
 ## add Plugin settings
     sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 ## add IMU sensor (TODO: sensors should be added when converting from collada file)
@@ -18,10 +19,12 @@ if [ ! -e ${OUTPUT_DIR}/hrpsys -o "$1" = "--force" ]; then
     sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
     sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+fi
 
-    mkdir ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot_nosim.xml ${OUTPUT_DIR}/hrpsys
+if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
+    mkdir -p ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys
 fi

From c86fe783ef496fb35a59fb46939474c7c1537ff7 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 15:03:54 +0000
Subject: [PATCH 071/306] add install_robot_common.sh and use it in
 install_robot.sh

---
 .../SampleRobot_optional_urdf_setting.sh      | 14 +++++++++
 robot_models/SampleRobot/install_robot.sh     | 29 +------------------
 robot_models/install_robot_common.sh          | 25 ++++++++++++++++
 3 files changed, 40 insertions(+), 28 deletions(-)
 create mode 100755 robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
 create mode 100755 robot_models/install_robot_common.sh

diff --git a/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh b/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
new file mode 100755
index 00000000..90660472
--- /dev/null
+++ b/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+## add Plugin settings
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## add IMU sensor (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## add forse sensors (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## change foot parameters
+sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index 30dced42..c8c311d1 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -1,30 +1,3 @@
 #!/bin/bash
 
-ROBOT_NAME=SampleRobot
-OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
-OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
-
-if [ ! -e ${OUTPUT_FILE} ]; then
-##
-    mkdir -p ${OUTPUT_DIR}/meshes
-    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-## add Plugin settings
-    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## add IMU sensor (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## add forse sensors (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## change foot parameters
-    sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-    sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-# continuous joint not working in GAZEBO
-    sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-fi
-
-if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
-    mkdir -p ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys
-fi
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh SampleRobot
diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
new file mode 100755
index 00000000..ff9781fc
--- /dev/null
+++ b/robot_models/install_robot_common.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# usage
+# ./install_robot.sh ROBOT_NAME
+
+ROBOT_NAME=$1
+OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
+OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
+SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
+
+if [ ! -e ${OUTPUT_FILE} ]; then
+##
+    mkdir -p ${OUTPUT_DIR}/meshes
+    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+## execute sed
+    ${SED_SCRIPT_FILE} ${OUTPUT_FILE}
+fi
+
+if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
+    mkdir -p ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
+    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys
+fi

From 6f83a745f241e8fbf19c2faacadecaec71ee3b86 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 15:09:57 +0000
Subject: [PATCH 072/306] add HRp2JSK to CMakeLists and use
 install_robot_common.sh

---
 CMakeLists.txt                                |  1 +
 .../HRP2JSK/HRP2JSK_optional_urdf_setting.sh  | 19 +++++++++++++
 robot_models/HRP2JSK/install_robot.sh         | 27 +------------------
 3 files changed, 21 insertions(+), 26 deletions(-)
 create mode 100755 robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8fa5c169..719d4a52 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,6 +31,7 @@ macro (generate_gazebo_urdf_file _robot_name)
 endmacro()
 
 generate_gazebo_urdf_file(SampleRobot)
+generate_gazebo_urdf_file(HRP2JSK)
 
 add_custom_target(all_robots_compile ALL DEPENDS ${compile_robots})
 
diff --git a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
new file mode 100755
index 00000000..8dd5f953
--- /dev/null
+++ b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+
+## add Plugin settings
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSK</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## add IMU sensor (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## add force sensors (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## change foot parameters
+sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+## change foot geometry mesh -> box
+sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSK/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSK/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+
diff --git a/robot_models/HRP2JSK/install_robot.sh b/robot_models/HRP2JSK/install_robot.sh
index 1b12f20c..338998c4 100755
--- a/robot_models/HRP2JSK/install_robot.sh
+++ b/robot_models/HRP2JSK/install_robot.sh
@@ -1,28 +1,3 @@
 #!/bin/bash
 
-if [ ! -e hrpsys ]; then
-##
-    mkdir meshes
-    rosrun collada_tools collada_to_urdf $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://HRP2JSK/meshes'
-## add Plugin settings
-    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSK</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' HRP2JSK.urdf
-## add IMU sensor (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' HRP2JSK.urdf
-## add force sensors (TODO: sensors should be added when converting from collada file)
-    sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' HRP2JSK.urdf
-## change foot parameters
-    sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' HRP2JSK.urdf
-    sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' HRP2JSK.urdf
-## change foot geometry mesh -> box
-    sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSK/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' HRP2JSK.urdf
-    sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSK/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' HRP2JSK.urdf
-# continuous joint not working in GAZEBO
-    sed -i -e 's@continuous@revolute@g' HRP2JSK.urdf
-
-    mkdir hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.conf hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.RobotHardware.conf hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.dae hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSK.xml hrpsys
-fi
-
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK

From 0c63d56e33bc09bb531e627da16227b83c368fe3 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 15:12:39 +0000
Subject: [PATCH 073/306] fix name SampleRobot -> _robot_name

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 719d4a52..86ebb7cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ 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 "${_out_dir}/SampleRobot.urdf")
+  set(_out_urdf_file "${_out_dir}/${_robot_name}.urdf")
   add_custom_command(OUTPUT ${_out_dir}/meshes
     COMMAND mkdir ${_out_dir}/meshes)
   add_custom_command(OUTPUT ${_out_dir}/hrpsys

From ad75df65009fca6081962d2c0ac640c5372413c7 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 15:14:59 +0000
Subject: [PATCH 074/306] use install_robot_common.sh in install_robot.sh for
 HRP2JSKNTS

---
 CMakeLists.txt                                  |  1 +
 .../HRP2JSKNTS_optional_urdf_setting.sh         | 10 ++++++++++
 robot_models/HRP2JSKNTS/install_robot.sh        | 17 +----------------
 3 files changed, 12 insertions(+), 16 deletions(-)
 create mode 100755 robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86ebb7cb..02ae9a6e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,6 +32,7 @@ endmacro()
 
 generate_gazebo_urdf_file(SampleRobot)
 generate_gazebo_urdf_file(HRP2JSK)
+generate_gazebo_urdf_file(HRP2JSKNTS)
 
 add_custom_target(all_robots_compile ALL DEPENDS ${compile_robots})
 
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
new file mode 100755
index 00000000..82274946
--- /dev/null
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+
+## add Plugin settings
+##
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNTS</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+
diff --git a/robot_models/HRP2JSKNTS/install_robot.sh b/robot_models/HRP2JSKNTS/install_robot.sh
index 93f971fd..090cca9c 100755
--- a/robot_models/HRP2JSKNTS/install_robot.sh
+++ b/robot_models/HRP2JSKNTS/install_robot.sh
@@ -1,18 +1,3 @@
 #!/bin/bash
 
-if [ ! -e hrpsys ]; then
-##
-    mkdir meshes
-    rosrun collada_tools collada_to_urdf $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://HRP2JSKNTS/meshes'
-##
-    sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNTS</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' HRP2JSKNTS.urdf
-# continuous joint not working in GAZEBO
-    sed -i -e 's@continuous@revolute@g' HRP2JSKNTS.urdf
-
-    mkdir hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.conf hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.RobotHardware.conf hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.dae hrpsys
-    ln -s  $(rospack find jsk_hrpsys_ros_bridge)/models/HRP2JSKNTS.xml hrpsys
-fi
-
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS

From 84e7bbc53516572b20953d3800c5b3ef5398d21d Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 16:55:30 +0000
Subject: [PATCH 075/306] modify for setting robot model directory

---
 robot_models/HRP2JSK/install_robot.sh    |  2 +-
 robot_models/HRP2JSKNTS/install_robot.sh |  2 +-
 robot_models/install_robot_common.sh     | 18 ++++++++++++------
 3 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/robot_models/HRP2JSK/install_robot.sh b/robot_models/HRP2JSK/install_robot.sh
index 338998c4..94d84e75 100755
--- a/robot_models/HRP2JSK/install_robot.sh
+++ b/robot_models/HRP2JSK/install_robot.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK $(rospack find jsk_hrpsys_ros_bridge)/models
diff --git a/robot_models/HRP2JSKNTS/install_robot.sh b/robot_models/HRP2JSKNTS/install_robot.sh
index 090cca9c..91d1eaa5 100755
--- a/robot_models/HRP2JSKNTS/install_robot.sh
+++ b/robot_models/HRP2JSKNTS/install_robot.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS $(rospack find jsk_hrpsys_ros_bridge)/models
diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index ff9781fc..85b14ef1 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -1,9 +1,15 @@
 #!/bin/bash
 
 # usage
-# ./install_robot.sh ROBOT_NAME
+# ./install_robot.sh ROBOT_NAME (model directory)
 
 ROBOT_NAME=$1
+if [ $# -gt 1 ]; then
+    INPUT_DIR=$2
+else
+    INPUT_DIR=$(rospack find hrpsys_ros_bridge_tutorials)/models
+fi
+
 OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
 OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
 SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
@@ -11,15 +17,15 @@ SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
 if [ ! -e ${OUTPUT_FILE} ]; then
 ##
     mkdir -p ${OUTPUT_DIR}/meshes
-    rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
 ## execute sed
     ${SED_SCRIPT_FILE} ${OUTPUT_FILE}
 fi
 
 if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
     mkdir -p ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
-    ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys
+    ln -s  ${INPUT_DIR}/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  ${INPUT_DIR}/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
+    ln -s  ${INPUT_DIR}/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
+    ln -s  ${INPUT_DIR}/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys
 fi

From 66a8ac86ec47e0e03e692c61364e03a63d88425b Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 17:28:39 +0000
Subject: [PATCH 076/306] force linking files

---
 robot_models/install_robot_common.sh | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 85b14ef1..f9bd3f47 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -24,8 +24,8 @@ fi
 
 if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
     mkdir -p ${OUTPUT_DIR}/hrpsys
-    ln -s  ${INPUT_DIR}/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  ${INPUT_DIR}/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
-    ln -s  ${INPUT_DIR}/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
-    ln -s  ${INPUT_DIR}/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys
 fi
+ln -sf ${INPUT_DIR}/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
+ln -sf ${INPUT_DIR}/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
+ln -sf ${INPUT_DIR}/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
+ln -sf ${INPUT_DIR}/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys

From bc322a4f5e146ca422a6376a74ecd40120c996fd Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 26 Sep 2013 18:22:44 +0000
Subject: [PATCH 077/306] fix order of force sensor

---
 config/hrp2jsk.yaml | 29 +++++++++++++++--------------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/config/hrp2jsk.yaml b/config/hrp2jsk.yaml
index a86e23da..1269d5a4 100644
--- a/config/hrp2jsk.yaml
+++ b/config/hrp2jsk.yaml
@@ -55,23 +55,24 @@ hrpsys_gazebo_configuration:
     RARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
     RARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
     RARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 10.0}
-    LLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 10.0}
-    LLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 10.0}
-    LLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 10.0}
-    LLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 10.0}
-    LLEG_JOINT5:  {p: 1600.0, d:   4.0, i: 0.0, i_clamp: 10.0}
-    RLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 10.0}
-    RLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 10.0}
-    RLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 10.0}
-    RLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 10.0}
-    RLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 10.0}
-    RLEG_JOINT5:  {p: 1600.0, d:   2.0, i: 0.0, i_clamp: 10.0}
+    LLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    LLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    LLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT5:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    RLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    RLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    RLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    RLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    RLEG_JOINT5:  {p: 2000.0, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+
   force_torque_sensors:
+    - rfsensor
     - lfsensor
-    - rfsensor 
+    - rhsensor
     - lhsensor
-    - rhsensor 
   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]}

From 40bda4c4bf90fe13a0ba6de3ddb0654820445d72 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 27 Sep 2013 05:08:19 +0000
Subject: [PATCH 078/306] remove optional argument for install_robot_common.sh
 ;; HRP2JSK.dae and HRP2JSKNTS.dae are generated in
 hrpsys_ros_bridge_tutorials/models directory after r5619

---
 robot_models/HRP2JSK/install_robot.sh    | 2 +-
 robot_models/HRP2JSKNTS/install_robot.sh | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/robot_models/HRP2JSK/install_robot.sh b/robot_models/HRP2JSK/install_robot.sh
index 94d84e75..338998c4 100755
--- a/robot_models/HRP2JSK/install_robot.sh
+++ b/robot_models/HRP2JSK/install_robot.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK $(rospack find jsk_hrpsys_ros_bridge)/models
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK
diff --git a/robot_models/HRP2JSKNTS/install_robot.sh b/robot_models/HRP2JSKNTS/install_robot.sh
index 91d1eaa5..090cca9c 100755
--- a/robot_models/HRP2JSKNTS/install_robot.sh
+++ b/robot_models/HRP2JSKNTS/install_robot.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS $(rospack find jsk_hrpsys_ros_bridge)/models
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS

From 924fc5ebee20f9eacfb64c12fd9cddff68f3bf89 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 29 Sep 2013 02:43:39 +0000
Subject: [PATCH 079/306] revert commnet out for each robot at r5608

---
 setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index 665f8e7f..e4c468a6 100644
--- a/setup.sh
+++ b/setup.sh
@@ -2,7 +2,7 @@ pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
-#    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
+    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
     export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH

From 13b9ca324f189e721d53eceeb63b46848bc06e8d Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Sep 2013 05:44:32 +0000
Subject: [PATCH 080/306] add irteus2urdf-for-grazebo

---
 euslisp/hrpsys-gazebo-utils.l | 33 +++++++++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index a7b31900..7ceeb489 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -17,6 +17,39 @@
     ))
 (warn "~%(eus2urdf-for-gazebo (make-askul-gdh-cupboard) \"cupboard\")~%")
 
+(defun irteus2urdf-for-gazebo
+  (model
+   &optional
+   (tmp-dir "/tmp")
+   ;; buf
+   name)
+  (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"
+		"& cp `rospack find hrpsys_gazebo_tutorials`/environment_models/~A/model.urdf"
+		" ~A.urdf")
+	       (send model :name) tmp-dir (send model :name)
+	       (send model :name) (send model :name))))
+     (t (format nil "dae error~%")))
+    (send model :name name)
+    )))
 
 (defun eus2urdf-room-for-gazebo (room &key make-static make-fixed make-world-file make-launch-file (robot-name "SampleRobot"))
   (let* ((room-name (string-downcase (send room :name)))

From 29a18948a48cc815130222a215566dd53dfd29a6 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Sep 2013 05:48:19 +0000
Subject: [PATCH 081/306] bug fix: forbit to copy .dae to /tmp

---
 euslisp/hrpsys-gazebo-utils.l | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 7ceeb489..b8239073 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -42,9 +42,7 @@
 	       (concatenate
 		string
 		"rosrun hrpsys_gazebo_tutorials"
-		" eus2urdf_for_gazebo_pyscript.py ~a ~a/~a.dae"
-		"& cp `rospack find hrpsys_gazebo_tutorials`/environment_models/~A/model.urdf"
-		" ~A.urdf")
+		" 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~%")))

From 1b94b668300b5218183778fbba9175057fd6b8b9 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Sep 2013 09:15:23 +0000
Subject: [PATCH 082/306] changed box size for simple-box-for-holding

---
 environment_models/simple-box/model.urdf | 48 ++++++++++--------------
 1 file changed, 19 insertions(+), 29 deletions(-)

diff --git a/environment_models/simple-box/model.urdf b/environment_models/simple-box/model.urdf
index f3c503be..1ad850be 100644
--- a/environment_models/simple-box/model.urdf
+++ b/environment_models/simple-box/model.urdf
@@ -1,52 +1,42 @@
-<?xml version="1.0"?>
-<robot name="simple-box-robot"
-       xmlns:xi="http://www.w3.org/2001/XInclude"
-       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
-       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
-       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
-       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
-       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
-  <gazebo>
-    <static>false</static>
-  </gazebo>
+<robot name="simple_box2">
   <link name="nil_link">
+    <inertial>
+      <origin xyz="0 0 -0.35" /> 
+      <mass value="2" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <origin xyz="0 0 -0.35"/>
       <geometry>
-        <mesh filename="model://simple-box/meshes/nil_link_mesh.dae" scale="1 1 1" />
+        <box size="0.25 0.5 0.35" />
       </geometry>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <origin xyz="0 0 -0.35"/>
       <geometry>
-        <mesh filename="model://simple-box/meshes/nil_link_mesh.dae" scale="1 1 1" />
+        <box size="0.25 0.5 0.35" />
       </geometry>
     </collision>
-    <inertial>
-      <mass value="2" />
-      <origin xyz="0 0 0" rpy="0 -0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
   </link>
   <gazebo reference="nil_link">
-    <mu1>0.9</mu1>
-    <mu2>0.9</mu2>
+    <material>Gazebo/Blue</material>
+  </gazebo>
+  <gazebo reference="nil_link">
+    <mu1>2.0</mu1>
+    <mu2>2.0</mu2>
   </gazebo>
   <gazebo>
     <plugin filename="libAddForcePlugin.so" name="simple_box_add_force_plugin" >
+      <objname>simple_box_for_holding</objname>
       <linkname>nil_link</linkname>
     </plugin>
     <plugin filename="libGetVelPlugin.so" name="simple_box_get_vel_plugin" >
+      <objname>simple_box_for_holding</objname>
       <linkname>nil_link</linkname>
     </plugin>
     <plugin filename="libSetVelPlugin.so" name="simple_box_set_vel_plugin" >
+      <objname>simple_box_for_holding</objname>
       <linkname>nil_link</linkname>
     </plugin>
   </gazebo>
-</robot>
+</robot>
\ No newline at end of file

From e94a903620a1420b08136e282e2038ffdc17ed27 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Sep 2013 09:18:39 +0000
Subject: [PATCH 083/306] enable to set objname in eus functions in
 gazebo-plugin-utils.l

---
 euslisp/gazebo-plugin-utils.l | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
index 682a8f92..bb2e777d 100644
--- a/euslisp/gazebo-plugin-utils.l
+++ b/euslisp/gazebo-plugin-utils.l
@@ -3,10 +3,10 @@
 (ros::load-ros-manifest "geometry_msgs")
 
 
-(defun init-gazebo-plugin ()
+(defun init-gazebo-plugin (&optional objname)
   (ros::roseus "GazeboPluginUtilsEus")
   (init-add-force)
-  (init-set-vel)
+  (init-set-vel objname)
   (init-get-vel)
 )
 
@@ -72,12 +72,12 @@
     ))
 
 
-(defun init-set-vel ()
+(defun init-set-vel (&optional objname)
   (ros::roseus "SetVelEus")
-  (ros::advertise "/SetVelPlugin/PoseCommand" geometry_msgs::pose 1)
+  (ros::advertise (format nil "~a~a" (if objname objname nil) "/SetVelPlugin/PoseCommand") geometry_msgs::pose 1)
   (ros::rate 100))
 
-(defun set-pose (&optional (_c (make-coords)))
+(defun set-pose (&optional (_c (make-coords)) objname)
   (let* ((msg (instance geometry_msgs::pose :init))
 	 (pos (scale 0.001 (send _c :worldpos)))
 	 (rot (send _c :worldrot))
@@ -89,7 +89,7 @@
     (send msg :orientation :x (elt quat 1))
     (send msg :orientation :y (elt quat 2))
     (send msg :orientation :z (elt quat 3))
-    (ros::publish "/SetVelPlugin/PoseCommand" msg))
+    (ros::publish (format nil "~a~a" (if objname objname nil) "/SetVelPlugin/PoseCommand") msg))
   )
 
 

From a2af97ee484216fe3b42c40948cd7d94712a58ac Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Sep 2013 11:36:07 +0000
Subject: [PATCH 084/306] changed object model name

---
 environment_models/simple-box/model.urdf | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/environment_models/simple-box/model.urdf b/environment_models/simple-box/model.urdf
index 1ad850be..32904a0a 100644
--- a/environment_models/simple-box/model.urdf
+++ b/environment_models/simple-box/model.urdf
@@ -1,4 +1,4 @@
-<robot name="simple_box2">
+<robot name="simple_box">
   <link name="nil_link">
     <inertial>
       <origin xyz="0 0 -0.35" /> 
@@ -27,15 +27,15 @@
   </gazebo>
   <gazebo>
     <plugin filename="libAddForcePlugin.so" name="simple_box_add_force_plugin" >
-      <objname>simple_box_for_holding</objname>
+      <objname>simple_box</objname>
       <linkname>nil_link</linkname>
     </plugin>
     <plugin filename="libGetVelPlugin.so" name="simple_box_get_vel_plugin" >
-      <objname>simple_box_for_holding</objname>
+      <objname>simple_box</objname>
       <linkname>nil_link</linkname>
     </plugin>
     <plugin filename="libSetVelPlugin.so" name="simple_box_set_vel_plugin" >
-      <objname>simple_box_for_holding</objname>
+      <objname>simple_box</objname>
       <linkname>nil_link</linkname>
     </plugin>
   </gazebo>

From a3a14222406d286d10d796bd99098a2d24873282 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 1 Oct 2013 08:44:41 +0000
Subject: [PATCH 085/306] implemented class for using gazebo plugin

---
 euslisp/gazebo-plugin-utils.l | 235 +++++++++++++++++++---------------
 1 file changed, 134 insertions(+), 101 deletions(-)

diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
index bb2e777d..c6c599bd 100644
--- a/euslisp/gazebo-plugin-utils.l
+++ b/euslisp/gazebo-plugin-utils.l
@@ -3,120 +3,153 @@
 (ros::load-ros-manifest "geometry_msgs")
 
 
-(defun init-gazebo-plugin (&optional objname)
-  (ros::roseus "GazeboPluginUtilsEus")
-  (init-add-force)
-  (init-set-vel objname)
-  (init-get-vel)
-)
-
-
-(defun init-add-force ()
-  (ros::roseus "AddForceEus")
-  (ros::advertise "AddForcePlugin/ForceCommand" geometry_msgs::wrench 1)
-  (ros::rate 100))
-
-(defun 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 "AddForcePlugin/ForceCommand" msg))
-  )
-(defun reset-force ()
-  (add-force (float-vector 0 0 0)))
-
-(defun init-get-vel ()
-  (ros::roseus "GetVelEus")
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; class definition
 
-  (setq *abs-vel* nil)
-  (setq *abs-accel* nil)
-  (setq *rel-vel* nil)
-  (setq *rel-accel* nil)
-  (setq *pose* nil)
-  (ros::subscribe "/GetVelPlugin/AbsVel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *abs-vel* msg)))
-  (ros::subscribe "/GetVelPlugin/AbsAccel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *abs-accel* msg)))
-  (ros::subscribe "/GetVelPlugin/RelVel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *rel-vel* msg)))
-  (ros::subscribe "/GetVelPlugin/RelAccel" geometry_msgs::TwistStamped #'(lambda (msg) (setq *rel-accel* msg)))
-  (ros::subscribe "/GetVelPlugin/Pose" geometry_msgs::PoseStamped #'(lambda (msg) (setq *pose* msg)))
+(defclass gazebo-plugin-obj-operate
+  :super propertied-object
+  :slots (objname
+	 abs-vel abs-accel rel-vel rel-accel pose)
   )
 
-(defun get-abs-vel ()
-  (ros::spin-once)
-  *abs-vel*)
-(defun get-abs-accel ()
-  (ros::spin-once)
-  *abs-accel*)
-(defun get-rel-vel ()
-  (ros::spin-once)
-  *rel-vel*)
-(defun get-rel-accel ()
-  (ros::spin-once)
-  *rel-accel*)
-
-(defun get-time-vel (&optional (vel (get-rel-vel)))
-  (send (send (send vel :header) :stamp) :to-sec))
-(defun get-linear-vel (&optional (vel (get-rel-vel)))
-  (rosvector32eusvector (send (send vel :twist) :linear)))
-(defun get-angular-vel (&optional (vel (get-rel-vel)))
-  (rosvector32eusvector (send (send vel :twist) :angular)))
-(defun get-pose ()
-  (ros::spin-once)
-  (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)
-    ))
-
-
-(defun init-set-vel (&optional objname)
-  (ros::roseus "SetVelEus")
-  (ros::advertise (format nil "~a~a" (if objname objname nil) "/SetVelPlugin/PoseCommand") geometry_msgs::pose 1)
-  (ros::rate 100))
-
-(defun set-pose (&optional (_c (make-coords)) objname)
-  (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" (if objname objname nil) "/SetVelPlugin/PoseCommand") msg))
+(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 :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::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)))
+  (:reset-world
+   ()
+   (send self :reset-force)
+   (send self :set-pose))
   )
 
 
 
-(defun reset-world ()
-  (reset-force)
-  (set-pose))
-
-
-
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ;; samples
 
-(defun tilt-box-by-pd-control (&optional (dest-pitch (/ pi 6)))
+(defun tilt-box-by-pd-control (&optional (objname "") (dest-pitch (/ pi 4)))
+  (setq *gpoo* (instance gazebo-plugin-obj-operate :init objname))
+  (unix::usleep (* 1000 1000))
+  ;; (do-until-key
+  ;;  (unix::usleep (* 10 1000))
+  ;;  (print (send (send *gpoo* :get-pose) :rot)))
   (do-until-key
    (let* ((dest-pitch-angle dest-pitch)
-	  (crnt-pitch-angle (elt (car (rpy-angle (send (get-pose) :rot))) 1))
-	  (diff-pitch-angle (- dest-pitch-angle crnt-pitch-angle))
-	  (crnt-dpitch-angle (elt (get-angular-vel (get-abs-vel)) 1))
-	  (p-gain 150)
-	  (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)))
-     (add-force f m)
+  	(crnt-pitch-angle (elt (car (rpy-angle (send (send *gpoo* :get-pose) :rot))) 1))
+  	(diff-pitch-angle (- dest-pitch-angle crnt-pitch-angle))
+  	(crnt-dpitch-angle (elt (send *gpoo* :get-angular-vel (send *gpoo* :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 *gpoo* :add-force f m)
      (warn "angle: ~a  moment: ~a~%" (rad2deg crnt-pitch-angle) pitch-moment)
-     (unix::usleep (* 100 1000)))))
+     (unix::usleep (* 100 1000))))
+  )
 
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

From 1b6463dfda8e020ddeccc6ae316eece00b293c20 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 1 Oct 2013 10:20:12 +0000
Subject: [PATCH 086/306] added function (init-gazebo-plugin)

---
 .../{simple-box => simple_box}/meshes/nil_link_mesh.dae      | 0
 environment_models/{simple-box => simple_box}/model.config   | 0
 environment_models/{simple-box => simple_box}/model.urdf     | 0
 euslisp/gazebo-plugin-utils.l                                | 5 +++++
 4 files changed, 5 insertions(+)
 rename environment_models/{simple-box => simple_box}/meshes/nil_link_mesh.dae (100%)
 rename environment_models/{simple-box => simple_box}/model.config (100%)
 rename environment_models/{simple-box => simple_box}/model.urdf (100%)

diff --git a/environment_models/simple-box/meshes/nil_link_mesh.dae b/environment_models/simple_box/meshes/nil_link_mesh.dae
similarity index 100%
rename from environment_models/simple-box/meshes/nil_link_mesh.dae
rename to environment_models/simple_box/meshes/nil_link_mesh.dae
diff --git a/environment_models/simple-box/model.config b/environment_models/simple_box/model.config
similarity index 100%
rename from environment_models/simple-box/model.config
rename to environment_models/simple_box/model.config
diff --git a/environment_models/simple-box/model.urdf b/environment_models/simple_box/model.urdf
similarity index 100%
rename from environment_models/simple-box/model.urdf
rename to environment_models/simple_box/model.urdf
diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
index c6c599bd..7018dce1 100644
--- a/euslisp/gazebo-plugin-utils.l
+++ b/euslisp/gazebo-plugin-utils.l
@@ -6,6 +6,11 @@
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ;; class definition
 
+(defun init-gazebo-plugin
+  (&optional (_objname ""))
+  (instance gazebo-plugin-obj-operate :init _objname)
+  )
+
 (defclass gazebo-plugin-obj-operate
   :super propertied-object
   :slots (objname

From 0fd3244b713b738cc3bfca7497d065efb5c6c605 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 4 Oct 2013 09:17:24 +0000
Subject: [PATCH 087/306] update for using synchronized controll

---
 launch/robot_hrpsys_bringup.launch | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index 570d18f8..f9e9570f 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -7,7 +7,18 @@
   <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_NAME)" />
   <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
 
+  <!-- hrpsys_gazebo settings -->
+  <arg name="SYNCHRONIZED" default="false" />
+  <arg name="IOB_SUBSTEPS" default="5" />
+  <arg name="HRPSYS_RATE"  default="200" />
+
+  <env if="$(arg SYNCHRONIZED)"
+       name="HRPSYS_GAZEBO_IOB_SYNCHRONIZED" value="1" />
+  <env if="$(arg SYNCHRONIZED)"
+       name="HRPSYS_GAZEBO_IOB_SUBSTEPS" value="$(arg IOB_SUBSTEPS)" />
+
   <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
+  <!-- end of hrpsys_gazebo settings -->
 
   <include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
     <arg name="USE_RTCD" value="true" />
@@ -19,6 +30,7 @@
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
     <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
     <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
+    <arg name="hrpsys_periodic_rate" value="$(arg HRPSYS_RATE)" />
   </include>
 
   <!-- hrpsys_ros_bridge -->

From b906bf675036071ec690da1d5174c441d58112a6 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 4 Oct 2013 09:18:04 +0000
Subject: [PATCH 088/306] update for using synchronized controll

---
 launch/gazebo_robot_no_controllers.launch | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index 55573348..f24ffc77 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -4,6 +4,7 @@
   <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
   <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
   <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
 
   <arg if="$(arg PAUSED)"
        name="paused" value="_paused" />
@@ -15,9 +16,14 @@
   <!-- start gazebo with the hrpsys_gazebo -->
   <node name="gazebo" pkg="atlas_utils" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
 
+  <!-- controller configuration -->
   <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
-  <!-- Robot Description -->
 
+  <!-- setting for using synchronized iob -->
+  <param name="/hrpsys_gazebo_configuration/use_synchronized_command"
+         value="$(arg SYNCHRONIZED)" />
+
+  <!-- Robot Description -->
   <param name="robot_description" textfile="$(arg ROBOT_MODEL)"/>
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 </launch>

From 50c3cb8a6e782844cd09078e14d850725ca77d02 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 4 Oct 2013 09:22:35 +0000
Subject: [PATCH 089/306] update for using synchronized control

---
 .../gazebo_samplerobot_no_controllers.launch  |  3 +++
 launch/samplerobot_hrpsys_bringup.launch      | 19 ++++++++++++++++++-
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/launch/gazebo_samplerobot_no_controllers.launch b/launch/gazebo_samplerobot_no_controllers.launch
index 4f9b7494..9dc86f6a 100644
--- a/launch/gazebo_samplerobot_no_controllers.launch
+++ b/launch/gazebo_samplerobot_no_controllers.launch
@@ -2,6 +2,7 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="SampleRobot.world"/>
   <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
@@ -9,5 +10,7 @@
     <arg name="PAUSED" value="$(arg PAUSED)"/>
     <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
+
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index 4a740c75..124fddc9 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -1,8 +1,25 @@
 <launch>
+  <arg name="SYNCHRONIZED" default="false" />
+
   <rosparam command="load"
             file="$(find hrpsys_ros_bridge_tutorials)/models/SampleRobot_controller_config.yaml" />
 
+  <!-- TODO: fix colladaWriter -->
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_0"
+        args="0 0 0 0 0 0 /LLEG_LINK6 lfsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_1"
+        args="0 0 0 0 0 0 /RLEG_LINK6 rfsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_2"
+        args="0 0 0 0 0 0 /LARM_LINK7 lhsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_3"
+        args="0 0 0 0 0 0 /RARM_LINK7 rhsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_4"
+        args="0 0 0 0 0 0 /WAIST_LINK0 gyrometer 100" />
+
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="ROBOT_NAME" default="SampleRobot" />
+    <arg name="ROBOT_NAME" value="SampleRobot" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="IOB_SUBSTEPS" value="5" />
+    <arg name="HRPSYS_RATE"  value="200" />
   </include>
 </launch>

From f3188a774d1d1ae5d67cdf9b196ec2d86830ebb8 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 7 Oct 2013 01:50:11 +0000
Subject: [PATCH 090/306] added utility functions: gzb2eus, eus2gzb

---
 euslisp/gazebo-plugin-utils.l | 85 ++++++++++++++++++++---------------
 1 file changed, 49 insertions(+), 36 deletions(-)

diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
index 7018dce1..6e1fcfb7 100644
--- a/euslisp/gazebo-plugin-utils.l
+++ b/euslisp/gazebo-plugin-utils.l
@@ -7,14 +7,15 @@
 ;; class definition
 
 (defun init-gazebo-plugin
-  (&optional (_objname ""))
-  (instance gazebo-plugin-obj-operate :init _objname)
-  )
+  (&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)
+	  abs-vel abs-accel rel-vel rel-accel pose)
   )
 
 (defmethod gazebo-plugin-obj-operate
@@ -29,8 +30,8 @@
    (send self :init-get-vel)
    (send self :update))
   (:update ()
-   (ros::spin-once))
-  ;; add-froce plugin
+	   (ros::spin-once))
+  ;; add-froce plugin ;;;;;;
   (:init-add-force
    ()
    (ros::roseus "AddForceEus")
@@ -48,7 +49,7 @@
   (:reset-force
    ()
    (send self :add-force (float-vector 0 0 0)))
-  ;; get-vel plugin
+  ;; get-vel plugin ;;;;;;
   (:init-get-vel
    ()
    (ros::roseus "GetVelEus")
@@ -57,21 +58,11 @@
    (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-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)
@@ -104,7 +95,7 @@
 	  (quat (rosvector42eusvector (send (send pose :pose) :orientation)))
 	  (rot (quaternion2matrix quat)))
      (make-coords :pos pos :rot rot)))
-  ;; set-vel plugin
+  ;; set-vel plugin ;;;;;;
   (:init-set-vel
    ()
    (ros::roseus "SetVelEus")
@@ -131,27 +122,49 @@
   )
 
 
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; 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 *gpoo* (instance gazebo-plugin-obj-operate :init objname))
+  (setq *gp* (init-gazebo-plugin objname))
   (unix::usleep (* 1000 1000))
-  ;; (do-until-key
-  ;;  (unix::usleep (* 10 1000))
-  ;;  (print (send (send *gpoo* :get-pose) :rot)))
   (do-until-key
    (let* ((dest-pitch-angle dest-pitch)
-  	(crnt-pitch-angle (elt (car (rpy-angle (send (send *gpoo* :get-pose) :rot))) 1))
-  	(diff-pitch-angle (- dest-pitch-angle crnt-pitch-angle))
-  	(crnt-dpitch-angle (elt (send *gpoo* :get-angular-vel (send *gpoo* :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 *gpoo* :add-force f m)
+	  (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))))
   )

From ca4c88959d3bf6bce48ea8cc36b89304e379389c Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 7 Oct 2013 01:50:53 +0000
Subject: [PATCH 091/306] bug fixed: changed origin of simple_box model

---
 environment_models/simple_box/model.urdf | 6 +++---
 worlds/SimpleBox.world                   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/environment_models/simple_box/model.urdf b/environment_models/simple_box/model.urdf
index 32904a0a..bacdc94d 100644
--- a/environment_models/simple_box/model.urdf
+++ b/environment_models/simple_box/model.urdf
@@ -1,18 +1,18 @@
 <robot name="simple_box">
   <link name="nil_link">
     <inertial>
-      <origin xyz="0 0 -0.35" /> 
+      <origin xyz="0 0 0" /> 
       <mass value="2" />
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 -0.35"/>
+      <origin xyz="0 0 0"/>
       <geometry>
         <box size="0.25 0.5 0.35" />
       </geometry>
     </visual>
     <collision>
-      <origin xyz="0 0 -0.35"/>
+      <origin xyz="0 0 0"/>
       <geometry>
         <box size="0.25 0.5 0.35" />
       </geometry>
diff --git a/worlds/SimpleBox.world b/worlds/SimpleBox.world
index 5be97fe8..cd6a9069 100644
--- a/worlds/SimpleBox.world
+++ b/worlds/SimpleBox.world
@@ -28,7 +28,7 @@
       <uri>model://ground_plane</uri>
     </include>
     <include>
-      <uri>model://simple-box</uri>
+      <uri>model://simple_box</uri>
       <pose>0 0 0.73 0 0 0</pose>
     </include>
     <include>

From fc91673e16a891641b51e63509ae0f73b1cc7dd8 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 16 Oct 2013 01:40:03 +0000
Subject: [PATCH 092/306] add tag for checking self collision in
 HRP2JSK_optional_urdf_setting. comment out at the moment becouse the robot
 motion becomes unstable.

---
 robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
index 8dd5f953..3fea1252 100755
--- a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
@@ -17,3 +17,5 @@ sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
+# if you want to simulate self collision, uncomment the following line. (robot motion becomes unstable.)
+# sed -i -e "s@</mu2>@</mu2>\n    <selfCollide>true</selfCollide>@g" ${OUTPUT_FILE}

From 7e57cb5297d44a58ed40fbf4024db8f3df23f653 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 16 Oct 2013 01:41:35 +0000
Subject: [PATCH 093/306] changed impledance controller defaut=true in
 robot_hrpsys_bringup.luanch

---
 launch/robot_hrpsys_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index f9e9570f..6988767a 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -44,7 +44,7 @@
     <arg name="USE_ROBOTHARDWARE" default="true" />
     <arg name="USE_WALKING" default="true" />
     <arg name="USE_COLLISIONCHECK" default="true" />
-    <arg name="USE_IMPEDANCECONTROLLER" default="false" />
+    <arg name="USE_IMPEDANCECONTROLLER" default="true" />
     <arg name="USE_SOFTERRORLIMIT" default="true" />
     <arg name="USE_IMAGESENSOR" default="false" />
   </include>

From 326405e88ea1e51574699c85d90a8f1d66d8a55e Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 21 Oct 2013 05:48:46 +0000
Subject: [PATCH 094/306] changed package name: atlas_utils -> drcsim_gazebo

---
 launch/gazebo_robot_no_controllers.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index f24ffc77..556761e0 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -14,7 +14,7 @@
   <param name="/use_sim_time" type="bool" value="true"/>
 
   <!-- start gazebo with the hrpsys_gazebo -->
-  <node name="gazebo" pkg="atlas_utils" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
+  <node name="gazebo" pkg="drcsim_gazebo" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
 
   <!-- controller configuration -->
   <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />

From d9996baebc7e499485f4800379e902b0887e81cd Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 30 Oct 2013 10:47:58 +0000
Subject: [PATCH 095/306] add 3rd argument for setting output directory

---
 robot_models/install_robot_common.sh | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index f9bd3f47..da498e75 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # usage
-# ./install_robot.sh ROBOT_NAME (model directory)
+# ./install_robot.sh ROBOT_NAME (model directory) (output directory)
 
 ROBOT_NAME=$1
 if [ $# -gt 1 ]; then
@@ -10,7 +10,12 @@ else
     INPUT_DIR=$(rospack find hrpsys_ros_bridge_tutorials)/models
 fi
 
-OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
+if [ $# -gt 2 ]; then
+    OUTPUT_DIR=$3
+else
+    OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
+fi
+
 OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
 SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
 

From 4c1e5c8ec880142f264af223fe590f607db22715 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 10 Nov 2013 17:08:34 +0000
Subject: [PATCH 096/306] add launching gazebo using gazebo_ros_pkgs

---
 scripts/gazebo   | 26 ++++++++++++++++++++++++++
 scripts/gzclient | 14 ++++++++++++++
 scripts/gzserver | 20 ++++++++++++++++++++
 3 files changed, 60 insertions(+)
 create mode 100755 scripts/gazebo
 create mode 100755 scripts/gzclient
 create mode 100755 scripts/gzserver

diff --git a/scripts/gazebo b/scripts/gazebo
new file mode 100755
index 00000000..0081e316
--- /dev/null
+++ b/scripts/gazebo
@@ -0,0 +1,26 @@
+#!/bin/bash
+final="$@"
+
+# add ros path plugin if it does not already exist in the passed in arguments
+if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ]
+then
+    final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
+fi
+
+# add ros api plugin if it does not already exist in the passed in arguments
+if [ `expr "$final" : '.*libgazebo\_ros\_api\_plugin\.so.*'` -eq 0 ]
+then
+    final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`"
+fi
+
+client_final="-g `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
+
+# Combine the commands
+setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
+. $setup_path/setup.sh
+. $(rospack find hrpsys_gazebo_tutorials)/setup.sh
+gzserver $final &
+gzclient $client_final
+
+# Kill the server
+kill -s SIGINT $!
diff --git a/scripts/gzclient b/scripts/gzclient
new file mode 100755
index 00000000..a7f42417
--- /dev/null
+++ b/scripts/gzclient
@@ -0,0 +1,14 @@
+#!/bin/bash
+final="$@"
+
+# add ros plugin if does not exist
+if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ]
+then
+    final="$final -g `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
+fi
+
+# Combine the commands
+setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
+. $setup_path/setup.sh
+. $(rospack find hrpsys_gazebo_tutorials)/setup.sh
+gzclient $final
diff --git a/scripts/gzserver b/scripts/gzserver
new file mode 100755
index 00000000..9f19d810
--- /dev/null
+++ b/scripts/gzserver
@@ -0,0 +1,20 @@
+#!/bin/bash
+final="$@"
+
+# add ros path plugin if it does not already exist in the passed in arguments
+if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ]
+then
+    final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
+fi
+
+# add ros api plugin if it does not already exist in the passed in arguments
+if [ `expr "$final" : '.*libgazebo\_ros\_api\_plugin\.so.*'` -eq 0 ]
+then
+    final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`"
+fi
+
+setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
+. $setup_path/setup.sh
+. $(rospack find hrpsys_gazebo_tutorials)/setup.sh
+gzserver $final
+

From 514ffd92211b20196ade3f27281a54dae40c9b89 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 10 Nov 2013 17:14:18 +0000
Subject: [PATCH 097/306] initial add gazebo-msgs-util.l

---
 euslisp/gazebo-msgs-util.l | 86 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 86 insertions(+)
 create mode 100644 euslisp/gazebo-msgs-util.l

diff --git a/euslisp/gazebo-msgs-util.l b/euslisp/gazebo-msgs-util.l
new file mode 100644
index 00000000..7288ea5a
--- /dev/null
+++ b/euslisp/gazebo-msgs-util.l
@@ -0,0 +1,86 @@
+(load-ros-manifest "gazebo_msgs")
+
+#|
+topic
+"/gazebo/set_link_state" gazebo_msgs::LinkState
+"/gazebo/set_model_state" gazebo_msgs::ModelState
+|#
+(defun get-link-states ()
+  (one-shot-subscribe "/gazebo/link_states" gazebo_msgs::LinkStates :timeout 1.0))
+(defun get-model-states ()
+  (one-shot-subscribe "/gazebo/model_states" gazebo_msgs::ModelStates :timeout 1.0))
+
+#|
+service
+"/gazebo/apply_body_wrench" gazebo_msgs::ApplyBodyWrench
+"/gazebo/apply_joint_effort" gazebo_msgs::ApplyJointEffort
+
+"/gazebo/clear_body_wrenches" gazebo_msgs::BodyRequest
+"/gazebo/clear_joint_forces" gazebo_msgs::JointRequest
+
+"/gazebo/get_link_state" gazebo_msgs::GetLinkState
+"/gazebo/get_model_state" gazebo_msgs::GetModelState
+
+"/gazebo/set_link_state" gazebo_msgs::SetLinkState
+"/gazebo/set_model_state" gazebo_msgs::SetModelState
+
+"/gazebo/get_joint_properties" gazebo_msgs::GetJointProperties
+"/gazebo/get_link_properties" gazebo_msgs::GetLinkProperties
+
+"/gazebo/set_joint_properties" gazebo_msgs::SetJointProperties
+"/gazebo/set_link_properties" gazebo_msgs::SetLinkProperties
+
+"/gazebo/get_physics_properties" gazebo_msgs::GetPhysicsProperties
+"/gazebo/set_physics_properties" gazebo_msgs::SetPhysicsProperties
+
+"/gazebo/get_world_properties" gazebo_msgs::GetWorldProperties
+
+"/gazebo/get_model_properties" gazebo_msgs::GetModelProperties
+
+"/gazebo/set_model_configuration" gazebo_msgs::SetModelConfiguration
+|#
+
+#|
+"/gazebo/spawn_gazebo_model" gazebo_msgs::SpawnModel
+"/gazebo/spawn_sdf_model" gazebo_msgs::SpawnModel
+"/gazebo/spawn_urdf_model" gazebo_msgs::SpawnModel
+
+"/gazebo/delete_model" gazebo_msgs::DeleteModel
+|#
+(defun gazebo-pause-physics ()
+  (let ((srv (instance std_srvs::EmptyRequest :init)))
+    (ros::service-call "/gazebo/pause_physics" srv)))
+(defun gazebo-pause-physics ()
+  (let ((srv (instance std_srvs::EmptyRequest :init)))
+    (ros::service-call "/gazebo/unpause_physics" srv)))
+(defun gazebo-reset-simulation ()
+  (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)))
+
+#|
+    def on_servo_on(self, evt):
+      servo = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/servo", OpenHRP_RobotHardwareService_servo )
+      power = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/power", OpenHRP_RobotHardwareService_power )
+      actual = rospy.ServiceProxy("/StateHolderServiceROSBridge/goActual", OpenHRP_StateHolderService_goActual )
+      try:
+        power(OpenHRP_RobotHardwareService_powerRequest("all",0))
+        time.sleep(1)
+        actual(OpenHRP_StateHolderService_goActualRequest())
+        time.sleep(2)
+        servo(OpenHRP_RobotHardwareService_servoRequest("all",0))
+      except rospy.ServiceException, e:
+        wx.MessageBox("Failed to put the hrpsys in servo on mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
+
+    def on_servo_off(self, evt):
+      servo = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/servo", OpenHRP_RobotHardwareService_servo )
+      power = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/power", OpenHRP_RobotHardwareService_power )
+      try:
+        servo(OpenHRP_RobotHardwareService_servoRequest("all",1));
+        time.sleep(1)
+        power(OpenHRP_RobotHardwareService_powerRequest("all",1))
+      except rospy.ServiceException, e:
+        wx.MessageBox("Failed to put the hrpsys in servo off mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
+|#

From 1c6f0da8546d0c9fca5bf9790f4ab64b1e9d77ae Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 14 Nov 2013 02:20:47 +0000
Subject: [PATCH 098/306] add gazebo_ros commands

---
 euslisp/gazebo-msgs-util.l | 147 +++++++++++++++++++++++++------------
 1 file changed, 102 insertions(+), 45 deletions(-)

diff --git a/euslisp/gazebo-msgs-util.l b/euslisp/gazebo-msgs-util.l
index 7288ea5a..e8957e5b 100644
--- a/euslisp/gazebo-msgs-util.l
+++ b/euslisp/gazebo-msgs-util.l
@@ -1,14 +1,17 @@
-(load-ros-manifest "gazebo_msgs")
+(ros::load-ros-manifest "gazebo_msgs")
 
 #|
 topic
 "/gazebo/set_link_state" gazebo_msgs::LinkState
 "/gazebo/set_model_state" gazebo_msgs::ModelState
 |#
-(defun get-link-states ()
-  (one-shot-subscribe "/gazebo/link_states" gazebo_msgs::LinkStates :timeout 1.0))
-(defun get-model-states ()
-  (one-shot-subscribe "/gazebo/model_states" gazebo_msgs::ModelStates :timeout 1.0))
+;;
+;; 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))
 
 #|
 service
@@ -18,27 +21,84 @@ service
 "/gazebo/clear_body_wrenches" gazebo_msgs::BodyRequest
 "/gazebo/clear_joint_forces" gazebo_msgs::JointRequest
 
-"/gazebo/get_link_state" gazebo_msgs::GetLinkState
-"/gazebo/get_model_state" gazebo_msgs::GetModelState
-
-"/gazebo/set_link_state" gazebo_msgs::SetLinkState
-"/gazebo/set_model_state" gazebo_msgs::SetModelState
-
-"/gazebo/get_joint_properties" gazebo_msgs::GetJointProperties
-"/gazebo/get_link_properties" gazebo_msgs::GetLinkProperties
-
 "/gazebo/set_joint_properties" gazebo_msgs::SetJointProperties
 "/gazebo/set_link_properties" gazebo_msgs::SetLinkProperties
-
-"/gazebo/get_physics_properties" gazebo_msgs::GetPhysicsProperties
 "/gazebo/set_physics_properties" gazebo_msgs::SetPhysicsProperties
+|#
 
-"/gazebo/get_world_properties" gazebo_msgs::GetWorldProperties
+;; set configuration
+(defun gazebo-set-model-configuration (model_name &key (param_name)
+                                                  (joint-list) (name-list) (positions))
+  (let ((srv (instance gazebo_msgs::SetModelConfiguration :init
+                       :model_name model_name
+                       :urdf_param_name param_name
+                       :joint_names
+                       (if joint-list
+                           (mapcar #'(lambda (j) (send j :name)) joint-list)
+                         name-list)
+                       :joint_positions
+                       (if joint-list
+                           (map float-vector #'(lambda (j) (send j :joint-angle)) joint-list)
+                         positions)
+                       )))
+    (ros::service-call "/gazebo/set_model_configuration" srv)))
 
-"/gazebo/get_model_properties" gazebo_msgs::GetModelProperties
+;;
+;; 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)))
 
-"/gazebo/set_model_configuration" gazebo_msgs::SetModelConfiguration
-|#
+(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)))
+
+;;
+;; get states 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)))
 
 #|
 "/gazebo/spawn_gazebo_model" gazebo_msgs::SpawnModel
@@ -47,40 +107,37 @@ service
 
 "/gazebo/delete_model" gazebo_msgs::DeleteModel
 |#
+;;
+;; spawn and delete model
+;;
+
+
+;;
+;; simulation util
+;;
 (defun gazebo-pause-physics ()
   (let ((srv (instance std_srvs::EmptyRequest :init)))
     (ros::service-call "/gazebo/pause_physics" srv)))
-(defun gazebo-pause-physics ()
+(defun gazebo-unpause-physics ()
   (let ((srv (instance std_srvs::EmptyRequest :init)))
     (ros::service-call "/gazebo/unpause_physics" srv)))
-(defun gazebo-reset-simulation ()
+(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)))
 
-#|
-    def on_servo_on(self, evt):
-      servo = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/servo", OpenHRP_RobotHardwareService_servo )
-      power = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/power", OpenHRP_RobotHardwareService_power )
-      actual = rospy.ServiceProxy("/StateHolderServiceROSBridge/goActual", OpenHRP_StateHolderService_goActual )
-      try:
-        power(OpenHRP_RobotHardwareService_powerRequest("all",0))
-        time.sleep(1)
-        actual(OpenHRP_StateHolderService_goActualRequest())
-        time.sleep(2)
-        servo(OpenHRP_RobotHardwareService_servoRequest("all",0))
-      except rospy.ServiceException, e:
-        wx.MessageBox("Failed to put the hrpsys in servo on mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
+(defun hrpsys-servo-on ()
+  (send *ri* :RobotHardwareService_power :name "all" :ss 0)
+  (unix::usleep (* 1000 1000))
+  (send *ri* :RobotHardwareService_goActual)
+  (unix::usleep (* 2 1000 1000))
+  (send *ri* :RobotHardwareService_servo :name "all" :ss 0)
+  )
 
-    def on_servo_off(self, evt):
-      servo = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/servo", OpenHRP_RobotHardwareService_servo )
-      power = rospy.ServiceProxy("/RobotHardwareServiceROSBridge/power", OpenHRP_RobotHardwareService_power )
-      try:
-        servo(OpenHRP_RobotHardwareService_servoRequest("all",1));
-        time.sleep(1)
-        power(OpenHRP_RobotHardwareService_powerRequest("all",1))
-      except rospy.ServiceException, e:
-        wx.MessageBox("Failed to put the hrpsys in servo off mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
-|#
+(defun hrpsys-servo-off ()
+  (send *ri* :RobotHardwareService_servo :name "all" :ss 1)
+  (unix::usleep (* 1000 1000))
+  (send *ri* :RobotHardwareService_power :name "all" :ss 1)
+  )

From b6dd391d396755677a7299aab19407fb1e4fca6e Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 14 Nov 2013 04:38:59 +0000
Subject: [PATCH 099/306] added STARO files in
 hrpsys_gazebo_tutorials/robot_models

---
 robot_models/STARO/STARO_optional_urdf_setting.sh | 10 ++++++++++
 robot_models/STARO/install_robot.sh               |  3 +++
 robot_models/STARO/manifest.xml                   | 13 +++++++++++++
 robot_models/manifest.xml                         |  1 +
 4 files changed, 27 insertions(+)
 create mode 100755 robot_models/STARO/STARO_optional_urdf_setting.sh
 create mode 100755 robot_models/STARO/install_robot.sh
 create mode 100644 robot_models/STARO/manifest.xml

diff --git a/robot_models/STARO/STARO_optional_urdf_setting.sh b/robot_models/STARO/STARO_optional_urdf_setting.sh
new file mode 100755
index 00000000..3d14a884
--- /dev/null
+++ b/robot_models/STARO/STARO_optional_urdf_setting.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+
+## add Plugin settings
+##
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>STARO</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+
diff --git a/robot_models/STARO/install_robot.sh b/robot_models/STARO/install_robot.sh
new file mode 100755
index 00000000..0873b29a
--- /dev/null
+++ b/robot_models/STARO/install_robot.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh STARO $(rospack find jsk_hrpsys_ros_bridge)/models
diff --git a/robot_models/STARO/manifest.xml b/robot_models/STARO/manifest.xml
new file mode 100644
index 00000000..1f4c9e40
--- /dev/null
+++ b/robot_models/STARO/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>STARO</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>STARO.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>
diff --git a/robot_models/manifest.xml b/robot_models/manifest.xml
index 145a7541..d857b2e2 100644
--- a/robot_models/manifest.xml
+++ b/robot_models/manifest.xml
@@ -7,5 +7,6 @@
     <uri>file://SampleRobot</uri>
     <uri>file://HRP2JSK</uri>
     <uri>file://HRP2JSKNTS</uri>
+    <uri>file://STARO</uri>
   </models>
 </database>

From 809627050b89cfc4ff39f3480b7d9401c7227b61 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 14 Nov 2013 04:40:05 +0000
Subject: [PATCH 100/306] added staro files for gazebo simulation: config,
 launch, world file.

---
 config/staro.yaml                         | 85 +++++++++++++++++++++++
 launch/gazebo_staro_no_controllers.launch | 13 ++++
 launch/staro_hrpsys_bringup.launch        |  8 +++
 worlds/STARO.world                        | 35 ++++++++++
 4 files changed, 141 insertions(+)
 create mode 100644 config/staro.yaml
 create mode 100644 launch/gazebo_staro_no_controllers.launch
 create mode 100644 launch/staro_hrpsys_bringup.launch
 create mode 100644 worlds/STARO.world

diff --git a/config/staro.yaml b/config/staro.yaml
new file mode 100644
index 00000000..38a79e11
--- /dev/null
+++ b/config/staro.yaml
@@ -0,0 +1,85 @@
+hrpsys_gazebo_configuration:
+  robotname: STARO
+  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:
+    - 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: 30000, d:   8.0, i: 0.0, i_clamp: 0.0}
+    CHEST_JOINT1: {p: 10000, d:   4.0, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT0:  {p:  1500, d:   0.5, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT1:  {p:  7000, d:   1.5, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT0:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT1:  {p: 10000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT2:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT3:  {p: 15000, d:   3.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT4:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT5:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT6:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT7:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT0:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT1:  {p: 10000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT2:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT3:  {p: 15000, d:   3.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT4:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT5:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT6:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT7:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT0:  {p: 15000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT1:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    RLEG_JOINT2:  {p: 38000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    RLEG_JOINT3:  {p: 34000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    RLEG_JOINT4:  {p: 28000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    RLEG_JOINT5:  {p: 20000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT0:  {p: 15000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT1:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    LLEG_JOINT2:  {p: 38000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    LLEG_JOINT3:  {p: 34000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT4:  {p: 28000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT5:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+#   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/launch/gazebo_staro_no_controllers.launch b/launch/gazebo_staro_no_controllers.launch
new file mode 100644
index 00000000..c199a684
--- /dev/null
+++ b/launch/gazebo_staro_no_controllers.launch
@@ -0,0 +1,13 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="STARO.world"/>
+  <arg name="PAUSED" default="false"/>
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/staro.yaml" />
+    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
+  </include>
+</launch>
diff --git a/launch/staro_hrpsys_bringup.launch b/launch/staro_hrpsys_bringup.launch
new file mode 100644
index 00000000..f0cbb4a9
--- /dev/null
+++ b/launch/staro_hrpsys_bringup.launch
@@ -0,0 +1,8 @@
+<launch>
+  <!-- <rosparam command="load" -->
+  <!--           file="$(find jsk_hrpsys_ros_bridge)/models/STARO_controller_config.yaml" /> -->
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_NAME" value="STARO" />
+  </include>
+</launch>
diff --git a/worlds/STARO.world b/worlds/STARO.world
new file mode 100644
index 00000000..6536a356
--- /dev/null
+++ b/worlds/STARO.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://STARO</uri>
+      <pose>0 0 1.00 0 0 0</pose>
+    </include>
+  </world>
+</sdf>

From 42680323e2b21f288ded15bb0f1bf40468f876a2 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 14 Nov 2013 04:40:58 +0000
Subject: [PATCH 101/306] added STARO model compoile in CMakeList.txt

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 02ae9a6e..71ae55ab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,6 +33,7 @@ endmacro()
 generate_gazebo_urdf_file(SampleRobot)
 generate_gazebo_urdf_file(HRP2JSK)
 generate_gazebo_urdf_file(HRP2JSKNTS)
+generate_gazebo_urdf_file(STARO)
 
 add_custom_target(all_robots_compile ALL DEPENDS ${compile_robots})
 

From e730a145e424f96af8db8bbcaf5a71c75f45af32 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 14 Nov 2013 06:33:48 +0000
Subject: [PATCH 102/306] update

---
 euslisp/gazebo-msgs-util.l | 85 +++++++++++++++++++++++++++-----------
 1 file changed, 60 insertions(+), 25 deletions(-)

diff --git a/euslisp/gazebo-msgs-util.l b/euslisp/gazebo-msgs-util.l
index e8957e5b..623e4bb9 100644
--- a/euslisp/gazebo-msgs-util.l
+++ b/euslisp/gazebo-msgs-util.l
@@ -25,24 +25,6 @@ service
 "/gazebo/set_link_properties" gazebo_msgs::SetLinkProperties
 "/gazebo/set_physics_properties" gazebo_msgs::SetPhysicsProperties
 |#
-
-;; set configuration
-(defun gazebo-set-model-configuration (model_name &key (param_name)
-                                                  (joint-list) (name-list) (positions))
-  (let ((srv (instance gazebo_msgs::SetModelConfiguration :init
-                       :model_name model_name
-                       :urdf_param_name param_name
-                       :joint_names
-                       (if joint-list
-                           (mapcar #'(lambda (j) (send j :name)) joint-list)
-                         name-list)
-                       :joint_positions
-                       (if joint-list
-                           (map float-vector #'(lambda (j) (send j :joint-angle)) joint-list)
-                         positions)
-                       )))
-    (ros::service-call "/gazebo/set_model_configuration" srv)))
-
 ;;
 ;; get properties service
 ;;
@@ -100,18 +82,53 @@ service
                                  :reference_frame reference-frame))))
     (ros::service-call "/gazebo/set_model_state" srv)))
 
-#|
-"/gazebo/spawn_gazebo_model" gazebo_msgs::SpawnModel
-"/gazebo/spawn_sdf_model" gazebo_msgs::SpawnModel
-"/gazebo/spawn_urdf_model" gazebo_msgs::SpawnModel
-
-"/gazebo/delete_model" gazebo_msgs::DeleteModel
-|#
 ;;
 ;; spawn and delete model
 ;;
+(defun gazebo-spawn-model (model_name
+                           model_xml
+                           &key (name_space "/") (initial-pose (make-coords))
+                           (reference-frame "") (type :urdf))
+  (let ((srv (instance gazebo_msgs::SpawnModel :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
+       (setq res (ros::service-call "/gazebo/spawn_urdf_model" srv)))
+      (:sdf
+       (setq res (ros::service-call "/gazebo/spawn_sdf_model" srv)))
+      (:gazebo
+       (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::DeleteModel :init
+                       :model_name model_name)))
+    (ros::service-call "/gazebo/delete_model" srv)))
 
 
+;; set configuration
+(defun gazebo-set-model-configuration (model_name &key (param_name)
+                                                  (joint-list) (name-list) (positions))
+  (let ((srv (instance gazebo_msgs::SetModelConfiguration :init
+                       :model_name model_name
+                       :urdf_param_name param_name
+                       :joint_names
+                       (if joint-list
+                           (mapcar #'(lambda (j) (send j :name)) joint-list)
+                         name-list)
+                       :joint_positions
+                       (if joint-list
+                           (map float-vector #'(lambda (j) (send j :joint-angle)) joint-list)
+                         positions)
+                       )))
+    (ros::service-call "/gazebo/set_model_configuration" srv)))
+
 ;;
 ;; simulation util
 ;;
@@ -141,3 +158,21 @@ service
   (unix::usleep (* 1000 1000))
   (send *ri* :RobotHardwareService_power :name "all" :ss 1)
   )
+
+;;
+;; euslisp utility
+;;
+(defun read-xml-from-file (path)
+  (let ((rpath (ros::resolve-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))))
+      (setq str (nreverse str))
+      (reduce #'(lambda (x y) (concatenate string y newline x)) str)
+      )
+    ))

From 790aab3efcb671e515d28e31c4caa8a9b880530c Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 15 Nov 2013 03:55:40 +0000
Subject: [PATCH 103/306] uncomment imu_sensors in staro.yaml

---
 config/staro.yaml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/config/staro.yaml b/config/staro.yaml
index 38a79e11..1fdc6d0e 100644
--- a/config/staro.yaml
+++ b/config/staro.yaml
@@ -78,8 +78,8 @@ hrpsys_gazebo_configuration:
 #     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'}
+  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'}

From 013f23a144bf672bf52481489c5b4af249ce5347 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 15 Nov 2013 03:56:16 +0000
Subject: [PATCH 104/306] added imu_sensors in STARO_optional_urdf_setting.sh

---
 robot_models/STARO/STARO_optional_urdf_setting.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/robot_models/STARO/STARO_optional_urdf_setting.sh b/robot_models/STARO/STARO_optional_urdf_setting.sh
index 3d14a884..b2af2bff 100755
--- a/robot_models/STARO/STARO_optional_urdf_setting.sh
+++ b/robot_models/STARO/STARO_optional_urdf_setting.sh
@@ -5,6 +5,8 @@ OUTPUT_FILE=$1
 ## add Plugin settings
 ##
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>STARO</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## add IMU sensor (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 

From 5af43a5b837582e2722da40d4dfbeb36505ad5e5 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 15 Nov 2013 06:38:47 +0000
Subject: [PATCH 105/306] changed STARO initial position: height 1.00 -> 0.96

---
 worlds/STARO.world | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/worlds/STARO.world b/worlds/STARO.world
index 6536a356..c63be9f5 100644
--- a/worlds/STARO.world
+++ b/worlds/STARO.world
@@ -29,7 +29,7 @@
     </include>
     <include>
       <uri>model://STARO</uri>
-      <pose>0 0 1.00 0 0 0</pose>
+      <pose>0 0 0.96 0 0 0</pose>
     </include>
   </world>
 </sdf>

From f48862a95ea8ec3100b970cd0d278496bb4533a9 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 15 Nov 2013 06:39:36 +0000
Subject: [PATCH 106/306] fixed joint_id_list to match with order in vrml
 model, changed gain.

---
 config/staro.yaml | 66 +++++++++++++++++++++++------------------------
 1 file changed, 33 insertions(+), 33 deletions(-)

diff --git a/config/staro.yaml b/config/staro.yaml
index 1fdc6d0e..8b61d75d 100644
--- a/config/staro.yaml
+++ b/config/staro.yaml
@@ -1,6 +1,6 @@
 hrpsys_gazebo_configuration:
   robotname: STARO
-  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]
+  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:
     - CHEST_JOINT0
     - CHEST_JOINT1
@@ -35,38 +35,38 @@ hrpsys_gazebo_configuration:
     - LLEG_JOINT4
     - LLEG_JOINT5
   gains:
-    CHEST_JOINT0: {p: 30000, d:   8.0, i: 0.0, i_clamp: 0.0}
-    CHEST_JOINT1: {p: 10000, d:   4.0, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT0:  {p:  1500, d:   0.5, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT1:  {p:  7000, d:   1.5, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT0:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT1:  {p: 10000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT2:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT3:  {p: 15000, d:   3.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT4:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT5:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT6:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT7:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT0:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT1:  {p: 10000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT2:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT3:  {p: 15000, d:   3.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT4:  {p:  2000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT5:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT6:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT7:  {p:  4000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT0:  {p: 15000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT1:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    RLEG_JOINT2:  {p: 38000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    RLEG_JOINT3:  {p: 34000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    RLEG_JOINT4:  {p: 28000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    RLEG_JOINT5:  {p: 20000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT0:  {p: 15000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT1:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    LLEG_JOINT2:  {p: 38000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    LLEG_JOINT3:  {p: 34000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT4:  {p: 28000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT5:  {p: 20000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    CHEST_JOINT0: {p: 300000, d:   8.0, i: 0.0, i_clamp: 0.0}
+    CHEST_JOINT1: {p: 100000, d:   4.0, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT0:  {p:  15000, d:   0.5, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT1:  {p:  70000, d:   1.5, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    RLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    RLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    RLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    RLEG_JOINT5:  {p: 200000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    LLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
+    LLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    LLEG_JOINT5:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
 #   force_torque_sensors:
 #     - rfsensor
 #     - lfsensor

From 6d555a64dddab941e0b29e4c6ff7b877dbeb2ea8 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 15 Nov 2013 08:13:23 +0000
Subject: [PATCH 107/306] add wait for service add gazebo-msgs-util.l

---
 euslisp/gazebo-msgs-util.l | 50 +++++++++++++++++++++++++++-----------
 1 file changed, 36 insertions(+), 14 deletions(-)

diff --git a/euslisp/gazebo-msgs-util.l b/euslisp/gazebo-msgs-util.l
index 623e4bb9..bbf91a9d 100644
--- a/euslisp/gazebo-msgs-util.l
+++ b/euslisp/gazebo-msgs-util.l
@@ -88,43 +88,47 @@ service
 (defun gazebo-spawn-model (model_name
                            model_xml
                            &key (name_space "/") (initial-pose (make-coords))
-                           (reference-frame "") (type :urdf))
-  (let ((srv (instance gazebo_msgs::SpawnModel :init
+                           (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)
+                       :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::DeleteModel :init
+  (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)
+(defun gazebo-set-model-configuration (model_name &key (param_name "") (wait nil)
                                                   (joint-list) (name-list) (positions))
-  (let ((srv (instance gazebo_msgs::SetModelConfiguration :init
+  (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
+                       :urdf_param_name param_name ;; not using now in gazebo_ros_pkgs
                        :joint_names
                        (if joint-list
-                           (mapcar #'(lambda (j) (send j :name)) 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 :joint-angle)) joint-list)
+                           (map float-vector #'(lambda (j) (send j :ros-joint-angle)) joint-list)
                          positions)
                        )))
     (ros::service-call "/gazebo/set_model_configuration" srv)))
@@ -132,10 +136,12 @@ service
 ;;
 ;; simulation util
 ;;
-(defun gazebo-pause-physics ()
+(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 ()
+(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
@@ -163,7 +169,7 @@ service
 ;; euslisp utility
 ;;
 (defun read-xml-from-file (path)
-  (let ((rpath (ros::resolve-path path))
+  (let ((rpath (ros::resolve-ros-path path))
         (newline (coerce (list 10) string))
         str)
     (when rpath
@@ -172,7 +178,23 @@ service
        (let (ln)
          (while (setq ln (read-line f nil nil))
            (push ln str))))
-      (setq str (nreverse str))
       (reduce #'(lambda (x y) (concatenate string y newline x)) str)
       )
     ))
+#|
+(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 0 800)))
+(gazebo-get-model-properties "SampleRobot")
+
+(gazebo-set-model-configuration "SampleRobot" :joint-list (send *samplerobot* :joint-list))
+(gazebo-set-model-state "SampleRobot" (make-coords :pos #f(0 0 760)))
+
+(gazebo-unpause-physics)
+|#
\ No newline at end of file

From ed52de905d91b7d46d5c80bdbb620bdf1feda054 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 17 Nov 2013 05:12:13 +0000
Subject: [PATCH 108/306] add dependancy to hrpsys_ros_bridge_tutorials to
 hrpsys_gazebo_tutorials

---
 manifest.xml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/manifest.xml b/manifest.xml
index a8157ca6..40a842bd 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -14,7 +14,8 @@
   <!--rosdep name="gazebo" /-->
 
   <depend package="hrpsys_gazebo_general" />
-
   <depend package="collada_tools" />
   <depend package="collada_urdf_jsk_patch" />
+
+  <depend package="hrpsys_ros_bridge_tutorials" />
 </package>

From ede785b1615b79e1691788da02369bbf4f229f9a Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 17 Nov 2013 11:10:06 +0000
Subject: [PATCH 109/306] add sample for synchronized_command

---
 config/samplerobot.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/config/samplerobot.yaml b/config/samplerobot.yaml
index 330a6975..f67b02e8 100644
--- a/config/samplerobot.yaml
+++ b/config/samplerobot.yaml
@@ -1,4 +1,6 @@
 hrpsys_gazebo_configuration:
+# ///
+  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
@@ -57,14 +59,14 @@ hrpsys_gazebo_configuration:
     LARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, i_clamp: 0.0}
     LARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, i_clamp: 0.0}
     LARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_R:    {p:  150.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    LARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, i_clamp: 0.0}
     RARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, i_clamp: 0.0}
     RARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, i_clamp: 0.0}
     RARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, i_clamp: 0.0}
     RARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, i_clamp: 0.0}
     RARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, i_clamp: 0.0}
     RARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_R:    {p:  150.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    RARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, i_clamp: 0.0}
 ## force sensor settings
 ## list of force sensorname
   force_torque_sensors:

From 89f01b045e1ab863b0a8d756c12affc6f5f411be Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 17 Nov 2013 11:14:16 +0000
Subject: [PATCH 110/306] add tf for using sensor values

---
 launch/hrp2jsk_hrpsys_bringup.launch | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index f5dc60f1..2a319499 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -2,6 +2,17 @@
   <rosparam command="load"
             file="$(find jsk_hrpsys_ros_bridge)/models/HRP2JSK_controller_config.yaml" />
 
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_0"
+        args="0 0 0 0 0 0 /LLEG_LINK5 lfsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_1"
+        args="0 0 0 0 0 0 /RLEG_LINK5 rfsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_2"
+        args="0 0 0 0 0 0 /LARM_LINK6 lhsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_3"
+        args="0 0 0 0 0 0 /RARM_LINK6 rhsensor 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_4"
+        args="0 0 0 0 0 0 /CHEST_LINK1 gyrometer 100" />
+
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_NAME" value="HRP2JSK" />
   </include>

From dc001d466be415cc35e298bebbdb59dd7cc6a624 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 17 Nov 2013 11:15:24 +0000
Subject: [PATCH 111/306] update for using robot name space

---
 launch/gazebo_robot_no_controllers.launch | 16 +++++++++-------
 launch/robot_hrpsys_bringup.launch        | 10 ++++++++--
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index 556761e0..2a443936 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -1,10 +1,11 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="SampleRobot.world"/>
+  <arg name="WORLD" default="SampleRobot.world" />
   <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
   <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
+  <arg name="ROBOT_INSTANCE_NAME" default="SampleRobot" /> <!-- ROBOT instance Name (name_space) -->
 
   <arg if="$(arg PAUSED)"
        name="paused" value="_paused" />
@@ -16,12 +17,13 @@
   <!-- start gazebo with the hrpsys_gazebo -->
   <node name="gazebo" pkg="drcsim_gazebo" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
 
-  <!-- controller configuration -->
-  <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
-
-  <!-- setting for using synchronized iob -->
-  <param name="/hrpsys_gazebo_configuration/use_synchronized_command"
-         value="$(arg SYNCHRONIZED)" />
+  <group ns="$(arg ROBOT_NAME)" >
+    <!-- controller configuration -->
+    <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <!-- setting for using synchronized iob -->
+    <param name="hrpsys_gazebo_configuration/use_synchronized_command"
+           value="$(arg SYNCHRONIZED)" />
+  </group>
 
   <!-- Robot Description -->
   <param name="robot_description" textfile="$(arg ROBOT_MODEL)"/>
diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index 6988767a..3472fea6 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -1,8 +1,10 @@
 <launch>
   <arg name="KILL_SERVERS" default="false" />
-  <arg name="ROBOT_NAME" default="SampleRobot" />
+  <arg name="ROBOT_NAME" default="SampleRobot" /> <!-- ROBOT type name -->
   <arg name="SIMULATOR_NAME" default="RobotHardware0" />
   <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
+  <!-- ROBOT instance name (name_space) -->
+  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_NAME)" />
 
   <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_NAME)" />
   <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
@@ -17,6 +19,10 @@
   <env if="$(arg SYNCHRONIZED)"
        name="HRPSYS_GAZEBO_IOB_SUBSTEPS" value="$(arg IOB_SUBSTEPS)" />
 
+  <!--env name="HRPSYS_GAZEBO_IOB_NAME" value="hrpsys_gazebo_iob" /-->
+  <!--env name="HRPSYS_GAZEBO_CONFIGURATION" value="hrpsys_gazebo_configuration" /-->
+  <env name="HRPSYS_GAZEBO_ROBOTNAME" value="$(arg ROBOT_INSTANCE_NAME)" />
+
   <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
   <!-- end of hrpsys_gazebo settings -->
 
@@ -39,7 +45,7 @@
     <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
     <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
-    <!-- settings -->
+
     <arg name="USE_COMMON" default="true" />
     <arg name="USE_ROBOTHARDWARE" default="true" />
     <arg name="USE_WALKING" default="true" />

From e918e4c909b00cfda78f68589658a4254db232d8 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 17 Nov 2013 18:52:50 +0000
Subject: [PATCH 112/306] update gazebo-msgs-util.l

---
 euslisp/gazebo-msgs-util.l | 93 +++++++++++++++++++++++++++++++++-----
 1 file changed, 81 insertions(+), 12 deletions(-)

diff --git a/euslisp/gazebo-msgs-util.l b/euslisp/gazebo-msgs-util.l
index bbf91a9d..635d8846 100644
--- a/euslisp/gazebo-msgs-util.l
+++ b/euslisp/gazebo-msgs-util.l
@@ -13,18 +13,74 @@ topic
 (defun gazebo-get-model-states (&optional (timeout 1000))
   (one-shot-subscribe "/gazebo/model_states" gazebo_msgs::ModelStates :timeout timeout))
 
-#|
-service
-"/gazebo/apply_body_wrench" gazebo_msgs::ApplyBodyWrench
-"/gazebo/apply_joint_effort" gazebo_msgs::ApplyJointEffort
+;;
+;; 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 clear_body_wrenches (body_name)
+  (let ((srv (instance gazebo_msgs::BodyRequestRequest :init
+                       :body_name body_name)))
+    (ros::service-call "/gazebo/clear_body_wrench" srv)))
 
-"/gazebo/clear_body_wrenches" gazebo_msgs::BodyRequest
-"/gazebo/clear_joint_forces" gazebo_msgs::JointRequest
+;;
+;; 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 clear_body_wrenches (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)))
 
-"/gazebo/set_joint_properties" gazebo_msgs::SetJointProperties
-"/gazebo/set_link_properties" gazebo_msgs::SetLinkProperties
-"/gazebo/set_physics_properties" gazebo_msgs::SetPhysicsProperties
-|#
 ;;
 ;; get properties service
 ;;
@@ -47,6 +103,9 @@ service
   (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
@@ -59,7 +118,7 @@ service
     (ros::service-call "/gazebo/get_model_state" srv)))
 
 ;;
-;; get states service
+;; set state service
 ;;
 (defun gazebo-set-link-state (link_name link_coords &key (twist (instance geometry_msgs::Twist :init))
                                         (reference-frame ""))
@@ -181,6 +240,15 @@ service
       (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")
@@ -190,10 +258,11 @@ service
 (gazebo-pause-physics)
 
 (gazebo-spawn-model "SampleRobot" (read-xml-from-file "package://SampleRobot/SampleRobot.urdf")
-                    :initial-pose (make-coords :pos #f(0 0 800)))
+                    :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)

From 12449385e76b94432b933cc5d7e99f85f721cbc5 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 19 Nov 2013 17:06:18 +0000
Subject: [PATCH 113/306] update for using loopback mode

---
 launch/gazebo_robot_no_controllers.launch | 12 +++++++----
 launch/robot_hrpsys_bringup.launch        | 26 +++++++++++++++--------
 2 files changed, 25 insertions(+), 13 deletions(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index 2a443936..d0d60e13 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -1,23 +1,27 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="SampleRobot.world" />
+  <arg name="ROBOT_TYPE" default="SampleRobot" />
+  <arg name="WORLD" default="$(arg ROBOT_TYPE).world" />
   <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
-  <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
+  <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)/$(arg ROBOT_TYPE).urdf" />
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
-  <arg name="ROBOT_INSTANCE_NAME" default="SampleRobot" /> <!-- ROBOT instance Name (name_space) -->
+  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" /> <!-- ROBOT instance Name (name_space) -->
+  <arg name="LOOPBACK" default="false" />
 
   <arg if="$(arg PAUSED)"
        name="paused" value="_paused" />
   <arg unless="$(arg PAUSED)"
        name="paused" value="" />
 
+  <group unless="$(arg LOOPBACK)" >
   <param name="/use_sim_time" type="bool" value="true"/>
 
   <!-- start gazebo with the hrpsys_gazebo -->
   <node name="gazebo" pkg="drcsim_gazebo" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
+  </group>
 
-  <group ns="$(arg ROBOT_NAME)" >
+  <group ns="$(arg ROBOT_INSTANCE_NAME)" >
     <!-- controller configuration -->
     <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
     <!-- setting for using synchronized iob -->
diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index 3472fea6..bd53e6fb 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -1,13 +1,14 @@
 <launch>
   <arg name="KILL_SERVERS" default="false" />
-  <arg name="ROBOT_NAME" default="SampleRobot" /> <!-- ROBOT type name -->
+  <arg name="ROBOT_TYPE" default="SampleRobot" /> <!-- ROBOT type name -->
   <arg name="SIMULATOR_NAME" default="RobotHardware0" />
   <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
+  <arg name="LOOPBACK" default="false" />
   <!-- ROBOT instance name (name_space) -->
-  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_NAME)" />
+  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
 
-  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_NAME)" />
-  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).conf" />
+  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)" />
+  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).conf" />
 
   <!-- hrpsys_gazebo settings -->
   <arg name="SYNCHRONIZED" default="false" />
@@ -19,6 +20,13 @@
   <env if="$(arg SYNCHRONIZED)"
        name="HRPSYS_GAZEBO_IOB_SUBSTEPS" value="$(arg IOB_SUBSTEPS)" />
 
+  <include if="$(arg LOOPBACK)"
+           file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch" >
+    <arg name="ROBOT_TYPE" value="$(arg ROBOT_TYPE)" />
+    <arg name="ROBOT_INSTANCE_NAME" value="$(arg ROBOT_INSTANCE_NAME)" />
+    <arg name="LOOPBACK" value="true" />
+  </include>
+
   <!--env name="HRPSYS_GAZEBO_IOB_NAME" value="hrpsys_gazebo_iob" /-->
   <!--env name="HRPSYS_GAZEBO_CONFIGURATION" value="hrpsys_gazebo_configuration" /-->
   <env name="HRPSYS_GAZEBO_ROBOTNAME" value="$(arg ROBOT_INSTANCE_NAME)" />
@@ -29,9 +37,9 @@
   <include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
     <arg name="USE_RTCD" value="true" />
     <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
-    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).RobotHardware.conf'/>
-    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME)_nosim.xml" />
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).RobotHardware.conf'/>
+    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE)_nosim.xml" />
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
     <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
     <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
@@ -41,8 +49,8 @@
 
   <!-- hrpsys_ros_bridge -->
   <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
-    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_NAME).dae" />
+    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
+    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
     <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
 

From 78f71cc766ed4d1ad456ad941d71ad0e5097fd72 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 19 Nov 2013 18:19:49 +0000
Subject: [PATCH 114/306] add spawn_model to gazeob_robot_no_controller.launch

---
 launch/gazebo_robot_no_controllers.launch | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index d0d60e13..35c1d50d 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -2,12 +2,18 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="ROBOT_TYPE" default="SampleRobot" />
   <arg name="WORLD" default="$(arg ROBOT_TYPE).world" />
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/$(arg ROBOT_TYPE).yaml" />
   <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)/$(arg ROBOT_TYPE).urdf" />
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
   <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" /> <!-- ROBOT instance Name (name_space) -->
+
   <arg name="LOOPBACK" default="false" />
+  <arg name="SPAWN_MODEL" default="false" />
+
+  <arg name="MODEL_TRANSLATE_X" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Y" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Z" default="1.0" />
 
   <arg if="$(arg PAUSED)"
        name="paused" value="_paused" />
@@ -32,4 +38,15 @@
   <!-- Robot Description -->
   <param name="robot_description" textfile="$(arg ROBOT_MODEL)"/>
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+  <node if="$(arg SPAWN_MODEL)"
+        name="spawn_robot_model" pkg="roseus" type="roseus"
+        args="&quot;$(find hrpsys_gazebo_tutorials)/euslisp/spawn_gazebo_model.l&quot;" >
+    <param name="robot_name" value="$(arg ROBOT_INSTANCE_NAME)" />
+    <param name="model_file" value="$(arg ROBOT_MODEL)" />
+    <param name="translate_x" value="$(arg MODEL_TRANSLATE_X)" />
+    <param name="translate_y" value="$(arg MODEL_TRANSLATE_Y)" />
+    <param name="translate_z" value="$(arg MODEL_TRANSLATE_Z)" />
+  </node>
+
 </launch>

From 2aac8212c12ca2d97f859fd2b5f90ace13f473ff Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 19 Nov 2013 18:20:49 +0000
Subject: [PATCH 115/306] add spawn_gazebo_model.l

---
 euslisp/gazebo-msgs-util.l   |  3 ++-
 euslisp/spawn_gazebo_model.l | 25 +++++++++++++++++++++++++
 2 files changed, 27 insertions(+), 1 deletion(-)
 create mode 100644 euslisp/spawn_gazebo_model.l

diff --git a/euslisp/gazebo-msgs-util.l b/euslisp/gazebo-msgs-util.l
index 635d8846..412a3afc 100644
--- a/euslisp/gazebo-msgs-util.l
+++ b/euslisp/gazebo-msgs-util.l
@@ -228,7 +228,8 @@ topic
 ;; euslisp utility
 ;;
 (defun read-xml-from-file (path)
-  (let ((rpath (ros::resolve-ros-path path))
+  (let ((rpath (if (substringp "://" path)
+                   (ros::resolve-ros-path path) path))
         (newline (coerce (list 10) string))
         str)
     (when rpath
diff --git a/euslisp/spawn_gazebo_model.l b/euslisp/spawn_gazebo_model.l
new file mode 100644
index 00000000..582f0676
--- /dev/null
+++ b/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)

From 875eacefdd17d24da4b8969c4ac582ed7625425f Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 19 Nov 2013 18:22:06 +0000
Subject: [PATCH 116/306] add launch for using hrp4c in gazebo

---
 launch/gazebo_hrp4c_no_controllers.launch | 15 +++++++++++++++
 1 file changed, 15 insertions(+)
 create mode 100644 launch/gazebo_hrp4c_no_controllers.launch

diff --git a/launch/gazebo_hrp4c_no_controllers.launch b/launch/gazebo_hrp4c_no_controllers.launch
new file mode 100644
index 00000000..7c23eca3
--- /dev/null
+++ b/launch/gazebo_hrp4c_no_controllers.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="worlds/empty.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="LOOPBACK" default="false" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname"      value="$(arg gzname)" />
+    <arg name="WORLD"       value="$(arg WORLD)" />
+    <arg name="PAUSED"      value="$(arg PAUSED)"/>
+    <arg name="ROBOT_TYPE"  value="HRP4C" />
+    <arg name="SPAWN_MODEL" value="true" />
+    <arg name="LOOPBACK"    value="$(arg LOOPBACK)" />
+  </include>
+</launch>

From c1a539729f509915f7268b03fff286e1d7da3a63 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 20 Nov 2013 02:19:48 +0000
Subject: [PATCH 117/306] rename hrp4c -> HRP4C

---
 ...no_controllers.launch => gazebo_HRP4C_no_controllers.launch} | 2 ++
 1 file changed, 2 insertions(+)
 rename launch/{gazebo_hrp4c_no_controllers.launch => gazebo_HRP4C_no_controllers.launch} (92%)

diff --git a/launch/gazebo_hrp4c_no_controllers.launch b/launch/gazebo_HRP4C_no_controllers.launch
similarity index 92%
rename from launch/gazebo_hrp4c_no_controllers.launch
rename to launch/gazebo_HRP4C_no_controllers.launch
index 7c23eca3..ff3223f0 100644
--- a/launch/gazebo_hrp4c_no_controllers.launch
+++ b/launch/gazebo_HRP4C_no_controllers.launch
@@ -11,5 +11,7 @@
     <arg name="ROBOT_TYPE"  value="HRP4C" />
     <arg name="SPAWN_MODEL" value="true" />
     <arg name="LOOPBACK"    value="$(arg LOOPBACK)" />
+
+    <arg name="MODEL_TRANSLATE_Z" value="0.8" />
   </include>
 </launch>

From 66f80fbab22dee824e9743b44c1fca76efeb8b39 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 20 Nov 2013 02:20:45 +0000
Subject: [PATCH 118/306] add hrpsys_bringup for HRP4C

---
 launch/hrpsys_bring_up_HRP4C.launch | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 launch/hrpsys_bring_up_HRP4C.launch

diff --git a/launch/hrpsys_bring_up_HRP4C.launch b/launch/hrpsys_bring_up_HRP4C.launch
new file mode 100644
index 00000000..7a4dc027
--- /dev/null
+++ b/launch/hrpsys_bring_up_HRP4C.launch
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="SYNCHRONIZED" default="false" />
+  <arg name="LOOPBACK"     default="false" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_TYPE"   value="HRP4C" />
+    <arg name="LOOPBACK"     value="$(arg LOOPBACK)" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="IOB_SUBSTEPS" value="5" />
+    <arg name="HRPSYS_RATE"  value="200" />
+  </include>
+</launch>

From 6840aaec500a452455c3562069a87c3a943fe924 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 20 Nov 2013 02:21:40 +0000
Subject: [PATCH 119/306] add hrpsys_gazebo configuration for HRP4C

---
 config/HRP4C.yaml | 125 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 125 insertions(+)
 create mode 100644 config/HRP4C.yaml

diff --git a/config/HRP4C.yaml b/config/HRP4C.yaml
new file mode 100644
index 00000000..8af6f795
--- /dev/null
+++ b/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

From db38c296cfb0dbe99eccc6aa8369a75932e5fc9b Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 20 Nov 2013 02:22:16 +0000
Subject: [PATCH 120/306] rename samplerobot -> SampleRobot

---
 config/{samplerobot.yaml => SampleRobot.yaml} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename config/{samplerobot.yaml => SampleRobot.yaml} (100%)

diff --git a/config/samplerobot.yaml b/config/SampleRobot.yaml
similarity index 100%
rename from config/samplerobot.yaml
rename to config/SampleRobot.yaml

From df74ed98510fbedb2573bdc093b69d09dfde71ce Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 20 Nov 2013 02:23:43 +0000
Subject: [PATCH 121/306] model directory for HRP4C

---
 robot_models/HRP4C/HRP4C.urdf.patch           | 128 ++++++++++++++++++
 .../HRP4C/HRP4C_optional_urdf_setting.sh      |  24 ++++
 robot_models/HRP4C/install_robot.sh           |   3 +
 robot_models/HRP4C/manifest.xml               |  13 ++
 4 files changed, 168 insertions(+)
 create mode 100644 robot_models/HRP4C/HRP4C.urdf.patch
 create mode 100755 robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
 create mode 100755 robot_models/HRP4C/install_robot.sh
 create mode 100644 robot_models/HRP4C/manifest.xml

diff --git a/robot_models/HRP4C/HRP4C.urdf.patch b/robot_models/HRP4C/HRP4C.urdf.patch
new file mode 100644
index 00000000..f2798a69
--- /dev/null
+++ b/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 @@
+     <inertial>
+       <mass value="0.3735" />
+       <origin xyz="0.021 0 0" rpy="0 -0 0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0.00016471" iyz="0" izz="0.00016471"/>
++      <inertia ixx="0.00016471" ixy="0" ixz="0" iyy="0.00016471" iyz="0" izz="0.00016471"/>
+     </inertial>
+   </link>
+   <gazebo reference="EYE_P_LINK">
+@@ -465,7 +465,7 @@
+     <inertial>
+       <mass value="0.3735" />
+       <origin xyz="0.021 0 0" rpy="0 -0 0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0.00016471" iyz="0" izz="0.00016471"/>
++      <inertia ixx="0.00016471" ixy="0" ixz="0" iyy="0.00016471" iyz="0" izz="0.00016471"/>
+     </inertial>
+   </link>
+   <gazebo reference="EYE_Y_LINK">
+@@ -1145,7 +1145,7 @@
+   <gazebo reference="L_WRIST_R">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="L_HAND_J0" type="revolute">
++  <joint name="L_HAND_J0" type="fixed">
+     <parent link="L_WRIST_R_LINK"/>
+     <child  link="L_HAND_J0_LINK"/>
+     <origin xyz="0.025 0.0046 -0.0526" rpy="0 -0 0 "/>
+@@ -1161,7 +1161,7 @@
+   <gazebo reference="L_HAND_J0">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="L_HAND_J1" type="revolute">
++  <joint name="L_HAND_J1" type="fixed">
+     <parent link="L_WRIST_R_LINK"/>
+     <child  link="L_HAND_J1_LINK"/>
+     <origin xyz="-0.009 0 -0.0959" rpy="0 -0 0 "/>
+@@ -1225,7 +1225,7 @@
+   <gazebo reference="NECK_P">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="CHEEK_P" type="revolute">
++  <joint name="CHEEK_P" type="fixed">
+     <parent link="NECK_P_LINK"/>
+     <child  link="CHEEK_P_LINK"/>
+     <origin xyz="-0.0265164 0 0.0255761" rpy="0 -0 0 "/>
+@@ -1241,7 +1241,7 @@
+   <gazebo reference="CHEEK_P">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="EYEBROW_P" type="revolute">
++  <joint name="EYEBROW_P" type="fixed">
+     <parent link="NECK_P_LINK"/>
+     <child  link="EYEBROW_P_LINK"/>
+     <origin xyz="-0.0357313 0 0.0900806" rpy="0 -0 0 "/>
+@@ -1257,7 +1257,7 @@
+   <gazebo reference="EYEBROW_P">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="EYELID_P" type="revolute">
++  <joint name="EYELID_P" type="fixed">
+     <parent link="NECK_P_LINK"/>
+     <child  link="EYELID_P_LINK"/>
+     <origin xyz="0.082 0.0315 0.0596149" rpy="0 -0 0 "/>
+@@ -1273,7 +1273,7 @@
+   <gazebo reference="EYELID_P">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="EYE_P" type="revolute">
++  <joint name="EYE_P" type="fixed">
+     <parent link="NECK_P_LINK"/>
+     <child  link="EYE_P_LINK"/>
+     <origin xyz="0.0816179 0.0315 0.0596149" rpy="0 -0 0 "/>
+@@ -1289,7 +1289,7 @@
+   <gazebo reference="EYE_P">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="EYE_Y" type="revolute">
++  <joint name="EYE_Y" type="fixed">
+     <parent link="EYE_P_LINK"/>
+     <child  link="EYE_Y_LINK"/>
+     <origin xyz="0 0 0" rpy="0 -0 0 "/>
+@@ -1305,7 +1305,7 @@
+   <gazebo reference="EYE_Y">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="MOUTH_P" type="revolute">
++  <joint name="MOUTH_P" type="fixed">
+     <parent link="NECK_P_LINK"/>
+     <child  link="MOUTH_P_LINK"/>
+     <origin xyz="0.0389284 0 0.00507761" rpy="0 -0 0 "/>
+@@ -1321,7 +1321,7 @@
+   <gazebo reference="MOUTH_P">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="LOWERLIP_P" type="revolute">
++  <joint name="LOWERLIP_P" type="fixed">
+     <parent link="MOUTH_P_LINK"/>
+     <child  link="LOWERLIP_P_LINK"/>
+     <origin xyz="0.0573582 0 -0.0274567" rpy="0 -0 0 "/>
+@@ -1337,7 +1337,7 @@
+   <gazebo reference="LOWERLIP_P">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="UPPERLIP_P" type="revolute">
++  <joint name="UPPERLIP_P" type="fixed">
+     <parent link="NECK_P_LINK"/>
+     <child  link="UPPERLIP_P_LINK"/>
+     <origin xyz="0.102 0 0.012" rpy="0 -0 0 "/>
+@@ -1449,7 +1449,7 @@
+   <gazebo reference="R_WRIST_R">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="R_HAND_J0" type="revolute">
++  <joint name="R_HAND_J0" type="fixed">
+     <parent link="R_WRIST_R_LINK"/>
+     <child  link="R_HAND_J0_LINK"/>
+     <origin xyz="0.025 -0.0046 -0.0526" rpy="0 -0 0 "/>
+@@ -1465,7 +1465,7 @@
+   <gazebo reference="R_HAND_J0">
+     <cfmDamping>0.4</cfmDamping>
+   </gazebo>
+-  <joint name="R_HAND_J1" type="revolute">
++  <joint name="R_HAND_J1" type="fixed">
+     <parent link="R_WRIST_R_LINK"/>
+     <child  link="R_HAND_J1_LINK"/>
+     <origin xyz="-0.009 0 -0.0959" rpy="0 -0 0 "/>
diff --git a/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh b/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
new file mode 100755
index 00000000..ef71fa34
--- /dev/null
+++ b/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+# 
+# ## add Plugin settings
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <!--robotname>HRP4C</robotname>\n      <controller>hrpsys_gazebo_configuration</controller-->\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
+patch -p 0 < ./HRP4C.urdf.patch
+
+# ## add IMU sensor (TODO: sensors should be added when converting from collada file)
+# sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+# ## add force sensors (TODO: sensors should be added when converting from collada file)
+# sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+# ## change foot parameters
+# sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+# sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+# ## change foot geometry mesh -> box
+# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP4C/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP4C/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+# # continuous joint not working in GAZEBO
+# sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+# 
+# # if you want to simulate self collision, uncomment the following line. (robot motion becomes unstable.)
+# # sed -i -e "s@</mu2>@</mu2>\n    <selfCollide>true</selfCollide>@g" ${OUTPUT_FILE}
diff --git a/robot_models/HRP4C/install_robot.sh b/robot_models/HRP4C/install_robot.sh
new file mode 100755
index 00000000..ae2bf467
--- /dev/null
+++ b/robot_models/HRP4C/install_robot.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP4C
diff --git a/robot_models/HRP4C/manifest.xml b/robot_models/HRP4C/manifest.xml
new file mode 100644
index 00000000..8cece5d9
--- /dev/null
+++ b/robot_models/HRP4C/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>HRP4C</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>HRP4C.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>

From e3e63417e1bc29f556c8e02b717d08d5b76de32d Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 20 Nov 2013 02:24:36 +0000
Subject: [PATCH 122/306] add HRP4C

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 71ae55ab..d764c3ed 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,6 +34,7 @@ generate_gazebo_urdf_file(SampleRobot)
 generate_gazebo_urdf_file(HRP2JSK)
 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})
 

From 5ba8988eeaa0d97a28f16b074c545f3c16e1ba16 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 27 Dec 2013 06:55:14 +0000
Subject: [PATCH 123/306] fix yaml name ;; samplerobot->SampleRobot

---
 launch/gazebo_samplerobot_no_controllers.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/gazebo_samplerobot_no_controllers.launch b/launch/gazebo_samplerobot_no_controllers.launch
index 9dc86f6a..94134437 100644
--- a/launch/gazebo_samplerobot_no_controllers.launch
+++ b/launch/gazebo_samplerobot_no_controllers.launch
@@ -8,7 +8,7 @@
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/samplerobot.yaml" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
 
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />

From 345cc6f33b3edd2b80e6f5aa2d2ce54b912945fb Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 27 Dec 2013 07:55:19 +0000
Subject: [PATCH 124/306] rename ROBOT_NAME -> ROBOT_TYPE

---
 launch/samplerobot_hrpsys_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index 124fddc9..6314ac91 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -17,7 +17,7 @@
         args="0 0 0 0 0 0 /WAIST_LINK0 gyrometer 100" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="ROBOT_NAME" value="SampleRobot" />
+    <arg name="ROBOT_TYPE" value="SampleRobot" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="IOB_SUBSTEPS" value="5" />
     <arg name="HRPSYS_RATE"  value="200" />

From 6e5bbf8a25132a75a8d2738278afc05fd98a10ee Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 27 Dec 2013 18:06:15 +0000
Subject: [PATCH 125/306] add USE_INSTANCE_NAME argument for using multiple
 robot

---
 launch/gazebo_robot_no_controllers.launch | 12 +++++++++++-
 launch/robot_hrpsys_bringup.launch        |  8 +++++---
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index 35c1d50d..fe903ed0 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -6,6 +6,7 @@
   <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)/$(arg ROBOT_TYPE).urdf" />
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
+  <arg name="USE_INSTANCE_NAME" default="false" />
   <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" /> <!-- ROBOT instance Name (name_space) -->
 
   <arg name="LOOPBACK" default="false" />
@@ -27,7 +28,16 @@
   <node name="gazebo" pkg="drcsim_gazebo" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
   </group>
 
-  <group ns="$(arg ROBOT_INSTANCE_NAME)" >
+  <group if="$(arg USE_INSTANCE_NAME)"
+         ns="$(arg ROBOT_INSTANCE_NAME)" >
+    <!-- controller configuration -->
+    <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <!-- setting for using synchronized iob -->
+    <param name="hrpsys_gazebo_configuration/use_synchronized_command"
+           value="$(arg SYNCHRONIZED)" />
+  </group>
+
+  <group unless="$(arg USE_INSTANCE_NAME)" >
     <!-- controller configuration -->
     <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
     <!-- setting for using synchronized iob -->
diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index bd53e6fb..6e3ffd4e 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -6,7 +6,7 @@
   <arg name="LOOPBACK" default="false" />
   <!-- ROBOT instance name (name_space) -->
   <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
-
+  <arg name="USE_INSTANCE_NAME" default="false" />
   <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)" />
   <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).conf" />
 
@@ -29,9 +29,9 @@
 
   <!--env name="HRPSYS_GAZEBO_IOB_NAME" value="hrpsys_gazebo_iob" /-->
   <!--env name="HRPSYS_GAZEBO_CONFIGURATION" value="hrpsys_gazebo_configuration" /-->
-  <env name="HRPSYS_GAZEBO_ROBOTNAME" value="$(arg ROBOT_INSTANCE_NAME)" />
+  <env if="$(arg USE_INSTANCE_NAME)"
+       name="HRPSYS_GAZEBO_ROBOTNAME" value="$(arg ROBOT_INSTANCE_NAME)" />
 
-  <param name="hrpsys_gazebo_iob" value="$(arg CONFIG_NAME)"/>
   <!-- end of hrpsys_gazebo settings -->
 
   <include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
@@ -62,4 +62,6 @@
     <arg name="USE_SOFTERRORLIMIT" default="true" />
     <arg name="USE_IMAGESENSOR" default="false" />
   </include>
+
+  <node pkg="hrpsys_ros_bridge" type="hrpsys_dashboard" name="gazebo_robot_dashboard" />
 </launch>

From bbe69939e9faa7f83c3d1c93e5ef05a0efbe818f Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 27 Dec 2013 19:02:52 +0000
Subject: [PATCH 126/306] fix typo

---
 euslisp/gazebo-msgs-util.l | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/euslisp/gazebo-msgs-util.l b/euslisp/gazebo-msgs-util.l
index 412a3afc..50458b86 100644
--- a/euslisp/gazebo-msgs-util.l
+++ b/euslisp/gazebo-msgs-util.l
@@ -28,7 +28,7 @@ topic
                        :ducation duration
                        )))
     (ros::service-call "/gazebo/apply_body_wrench" srv)))
-(defun clear_body_wrenches (body_name)
+(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)))
@@ -44,7 +44,7 @@ topic
                        :ducation duration
                        )))
     (ros::service-call "/gazebo/apply_joint_effort" srv)))
-(defun clear_body_wrenches (joint_name)
+(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)))
@@ -213,7 +213,7 @@ topic
 (defun hrpsys-servo-on ()
   (send *ri* :RobotHardwareService_power :name "all" :ss 0)
   (unix::usleep (* 1000 1000))
-  (send *ri* :RobotHardwareService_goActual)
+  (send *ri* :StateHolderService_goActual)
   (unix::usleep (* 2 1000 1000))
   (send *ri* :RobotHardwareService_servo :name "all" :ss 0)
   )
@@ -242,7 +242,6 @@ topic
       )
     ))
 
-
 ;; hrpsys_gazebo_general
 (defun gazebo-reset-joint-reference (robotname &optional (wait nil))
   (let ((sname (format nil "~A/reset_joint_reference" robotname))

From c792445796bf0009a15da92c824766941a11ec31 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 05:21:44 +0000
Subject: [PATCH 127/306] add generation of gazebo__no_controllers.launch nad
 _hrpsys_bringup.launch ;; currently file are generated in build directory

---
 CMakeLists.txt                                    |  4 ++++
 .../default_gazebo_robot_no_controllers.launch.in | 15 +++++++++++++++
 scripts/default_robot_hrpsys_bringup.launch.in    | 11 +++++++++++
 3 files changed, 30 insertions(+)
 create mode 100644 scripts/default_gazebo_robot_no_controllers.launch.in
 create mode 100644 scripts/default_robot_hrpsys_bringup.launch.in

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d764c3ed..516f5bee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,10 @@ macro (generate_gazebo_urdf_file _robot_name)
     COMMAND ${_out_dir}/install_robot.sh
     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)
+  configure_file(${PROJECT_SOURCE_DIR}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/build/gazebo_${_sname}_no_controllers.launch)
   list(APPEND compile_robots ${_robot_name}_compile)
 endmacro()
 
diff --git a/scripts/default_gazebo_robot_no_controllers.launch.in b/scripts/default_gazebo_robot_no_controllers.launch.in
new file mode 100644
index 00000000..ca267491
--- /dev/null
+++ b/scripts/default_gazebo_robot_no_controllers.launch.in
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="@ROBOT@.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/@ROBOT@.yaml" />
+    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/@ROBOT@/@ROBOT@.urdf" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+  </include>
+</launch>
diff --git a/scripts/default_robot_hrpsys_bringup.launch.in b/scripts/default_robot_hrpsys_bringup.launch.in
new file mode 100644
index 00000000..02fb36d1
--- /dev/null
+++ b/scripts/default_robot_hrpsys_bringup.launch.in
@@ -0,0 +1,11 @@
+<launch>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <rosparam command="load"
+            file="$(find hrpsys_ros_bridge_tutorials)/models/@ROBOT@_controller_config.yaml" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_TYPE" value="@ROBOT@" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+  </include>
+</launch>

From 445ae9f9e43664d7ca354405dc213b8ae0ffa825 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 05:28:20 +0000
Subject: [PATCH 128/306] capitalize config yaml file

---
 config/{hrp2jsk.yaml => HRP2JSK.yaml}          | 0
 config/{hrp2jsknts.yaml => HRP2JSKNTS.yaml}    | 0
 config/{staro.yaml => STARO.yaml}              | 0
 launch/gazebo_hrp2jsk_no_controllers.launch    | 2 +-
 launch/gazebo_hrp2jsknts_no_controllers.launch | 4 ++--
 launch/gazebo_staro_no_controllers.launch      | 2 +-
 6 files changed, 4 insertions(+), 4 deletions(-)
 rename config/{hrp2jsk.yaml => HRP2JSK.yaml} (100%)
 rename config/{hrp2jsknts.yaml => HRP2JSKNTS.yaml} (100%)
 rename config/{staro.yaml => STARO.yaml} (100%)

diff --git a/config/hrp2jsk.yaml b/config/HRP2JSK.yaml
similarity index 100%
rename from config/hrp2jsk.yaml
rename to config/HRP2JSK.yaml
diff --git a/config/hrp2jsknts.yaml b/config/HRP2JSKNTS.yaml
similarity index 100%
rename from config/hrp2jsknts.yaml
rename to config/HRP2JSKNTS.yaml
diff --git a/config/staro.yaml b/config/STARO.yaml
similarity index 100%
rename from config/staro.yaml
rename to config/STARO.yaml
diff --git a/launch/gazebo_hrp2jsk_no_controllers.launch b/launch/gazebo_hrp2jsk_no_controllers.launch
index 09a97b91..59173d01 100644
--- a/launch/gazebo_hrp2jsk_no_controllers.launch
+++ b/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -7,7 +7,7 @@
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" />
   </include>
 </launch>
diff --git a/launch/gazebo_hrp2jsknts_no_controllers.launch b/launch/gazebo_hrp2jsknts_no_controllers.launch
index d6b7ad75..b8d97df1 100644
--- a/launch/gazebo_hrp2jsknts_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknts_no_controllers.launch
@@ -1,11 +1,11 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="HRP2JSKNTS.world"/>
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsknts.yaml" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" />
+    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
   </include>
 </launch>
diff --git a/launch/gazebo_staro_no_controllers.launch b/launch/gazebo_staro_no_controllers.launch
index c199a684..30d4a225 100644
--- a/launch/gazebo_staro_no_controllers.launch
+++ b/launch/gazebo_staro_no_controllers.launch
@@ -7,7 +7,7 @@
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/staro.yaml" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/STARO.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
   </include>
 </launch>

From 41b2cde529040d3e45ae4628a0e51219de537b5b Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 07:08:17 +0000
Subject: [PATCH 129/306] add PAUSED and SYNCHRONIZED argument according to
 gazebo_samplerobot_no_controllers.launch

---
 launch/gazebo_hrp2jsk_no_controllers.launch     | 2 ++
 launch/gazebo_hrp2jsknts_no_controllers.launch  | 4 ++++
 launch/gazebo_samplerobot_no_controllers.launch | 1 -
 launch/gazebo_staro_no_controllers.launch       | 2 ++
 4 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/launch/gazebo_hrp2jsk_no_controllers.launch b/launch/gazebo_hrp2jsk_no_controllers.launch
index 59173d01..6edd4494 100644
--- a/launch/gazebo_hrp2jsk_no_controllers.launch
+++ b/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -2,6 +2,7 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="HRP2JSK.world"/>
   <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
@@ -9,5 +10,6 @@
     <arg name="PAUSED" value="$(arg PAUSED)"/>
     <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/gazebo_hrp2jsknts_no_controllers.launch b/launch/gazebo_hrp2jsknts_no_controllers.launch
index b8d97df1..5c1d4b6e 100644
--- a/launch/gazebo_hrp2jsknts_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknts_no_controllers.launch
@@ -1,11 +1,15 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="HRP2JSKNTS.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
     <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/gazebo_samplerobot_no_controllers.launch b/launch/gazebo_samplerobot_no_controllers.launch
index 94134437..18808a82 100644
--- a/launch/gazebo_samplerobot_no_controllers.launch
+++ b/launch/gazebo_samplerobot_no_controllers.launch
@@ -10,7 +10,6 @@
     <arg name="PAUSED" value="$(arg PAUSED)"/>
     <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
-
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/gazebo_staro_no_controllers.launch b/launch/gazebo_staro_no_controllers.launch
index 30d4a225..766aec47 100644
--- a/launch/gazebo_staro_no_controllers.launch
+++ b/launch/gazebo_staro_no_controllers.launch
@@ -2,6 +2,7 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="STARO.world"/>
   <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
     <arg name="gzname" value="$(arg gzname)" />
@@ -9,5 +10,6 @@
     <arg name="PAUSED" value="$(arg PAUSED)"/>
     <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/STARO.yaml" />
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>

From c8687cbb6822a3b0d277b305b57e69920c69cd40 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 07:11:53 +0000
Subject: [PATCH 130/306] remove IOB_SUBSTEPS and HRPSYS_RATE because these
 values are set to robot_hrpsys_bringup.launch's default values

---
 launch/samplerobot_hrpsys_bringup.launch | 2 --
 1 file changed, 2 deletions(-)

diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index 6314ac91..ce964eee 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -19,7 +19,5 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="SampleRobot" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
-    <arg name="IOB_SUBSTEPS" value="5" />
-    <arg name="HRPSYS_RATE"  value="200" />
   </include>
 </launch>

From 534e787418d144fdb72f773bf3d9f9b7a7e7515e Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 07:15:46 +0000
Subject: [PATCH 131/306] update config path and ROBOT_TYPE argument

---
 launch/hrp2jsk_hrpsys_bringup.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index 2a319499..bda41e1f 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -1,6 +1,6 @@
 <launch>
   <rosparam command="load"
-            file="$(find jsk_hrpsys_ros_bridge)/models/HRP2JSK_controller_config.yaml" />
+            file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_controller_config.yaml" />
 
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_0"
         args="0 0 0 0 0 0 /LLEG_LINK5 lfsensor 100" />
@@ -14,6 +14,6 @@
         args="0 0 0 0 0 0 /CHEST_LINK1 gyrometer 100" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="ROBOT_NAME" value="HRP2JSK" />
+    <arg name="ROBOT_TYPE" value="HRP2JSK" />
   </include>
 </launch>

From 30b547c00390e1af88f2fa77a3a31aa16afe0a4d Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 07:17:57 +0000
Subject: [PATCH 132/306] add controller config loading and fix ROBOT_NAME
 argument

---
 launch/hrp2jsknts_hrpsys_bringup.launch | 5 +++--
 launch/staro_hrpsys_bringup.launch      | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
index 1f286600..21c72cad 100644
--- a/launch/hrp2jsknts_hrpsys_bringup.launch
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -1,7 +1,8 @@
 <launch>
-  <arg name="ROBOT_NAME" default="HRP2JSKNTS" />
+  <rosparam command="load"
+            file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="ROBOT_NAME" value="$(arg ROBOT_NAME)" />
+    <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
   </include>
 </launch>
diff --git a/launch/staro_hrpsys_bringup.launch b/launch/staro_hrpsys_bringup.launch
index f0cbb4a9..36077431 100644
--- a/launch/staro_hrpsys_bringup.launch
+++ b/launch/staro_hrpsys_bringup.launch
@@ -3,6 +3,6 @@
   <!--           file="$(find jsk_hrpsys_ros_bridge)/models/STARO_controller_config.yaml" /> -->
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="ROBOT_NAME" value="STARO" />
+    <arg name="ROBOT_TYPE" value="STARO" />
   </include>
 </launch>

From 1046b3eb08cad808107f2e3a396c7b4bfd7cd4f8 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 07:20:02 +0000
Subject: [PATCH 133/306] generate and overwrite gazebo__no_controllers.launch

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 516f5bee..c45508a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,7 +30,7 @@ macro (generate_gazebo_urdf_file _robot_name)
   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)
-  configure_file(${PROJECT_SOURCE_DIR}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/build/gazebo_${_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)
   list(APPEND compile_robots ${_robot_name}_compile)
 endmacro()
 

From f8946e65e9cb252f36b7d64524eacaa642641df1 Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 15:39:33 +0000
Subject: [PATCH 134/306] add link to issue

---
 launch/samplerobot_hrpsys_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index ce964eee..a165dad8 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -4,7 +4,7 @@
   <rosparam command="load"
             file="$(find hrpsys_ros_bridge_tutorials)/models/SampleRobot_controller_config.yaml" />
 
-  <!-- TODO: fix colladaWriter -->
+  <!-- TODO: fix colladaWriter see https://code.google.com/p/rtm-ros-robotics/issues/detail?id=182 -->
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_0"
         args="0 0 0 0 0 0 /LLEG_LINK6 lfsensor 100" />
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_1"

From d6653850a8f816ac62cbc22f12c1d94aff7fe639 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 15:43:39 +0000
Subject: [PATCH 135/306] fix link names

---
 launch/samplerobot_hrpsys_bringup.launch | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index a165dad8..f9aa22be 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -6,13 +6,13 @@
 
   <!-- TODO: fix colladaWriter see https://code.google.com/p/rtm-ros-robotics/issues/detail?id=182 -->
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_0"
-        args="0 0 0 0 0 0 /LLEG_LINK6 lfsensor 100" />
+        args="0 0 0 0 0 0 /LLEG_LINK6 /LLEG_ANKLE_R 100" />
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_1"
-        args="0 0 0 0 0 0 /RLEG_LINK6 rfsensor 100" />
+        args="0 0 0 0 0 0 /RLEG_LINK6 /RLEG_ANKLE_R 100" />
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_2"
-        args="0 0 0 0 0 0 /LARM_LINK7 lhsensor 100" />
+        args="0 0 0 0 0 0 /LARM_LINK7 /LARM_WRIST_P 100" />
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_3"
-        args="0 0 0 0 0 0 /RARM_LINK7 rhsensor 100" />
+        args="0 0 0 0 0 0 /RARM_LINK7 /RARM_WRIST_P 100" />
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_4"
         args="0 0 0 0 0 0 /WAIST_LINK0 gyrometer 100" />
 

From 93a6873efb35b3c90cb0e418cd10e4f2d8a2a3f8 Mon Sep 17 00:00:00 2001
From: "notheworld@gmail.com"
 <notheworld@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 28 Dec 2013 19:19:07 +0000
Subject: [PATCH 136/306] comment out build launch files

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c45508a0..4f740900 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,7 @@ macro (generate_gazebo_urdf_file _robot_name)
   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)
+  #configure_file(${PROJECT_SOURCE_DIR}/scripts/default_robot_hrpsys_bringup.launch.in ${PROJECT_SOURCE_DIR}/build/${_sname}_hrpsys_bringup.launch)
   configure_file(${PROJECT_SOURCE_DIR}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/launch/gazebo_${_sname}_no_controllers.launch)
   list(APPEND compile_robots ${_robot_name}_compile)
 endmacro()

From 79425dad9fbbaabe7bf8d3dd1dbe90b37352f52a Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 29 Dec 2013 10:00:58 +0000
Subject: [PATCH 137/306] add drc_sample.launch, just four plane and valves

---
 worlds/drc_sample.world | 56 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)
 create mode 100644 worlds/drc_sample.world

diff --git a/worlds/drc_sample.world b/worlds/drc_sample.world
new file mode 100644
index 00000000..d8d3cfd7
--- /dev/null
+++ b/worlds/drc_sample.world
@@ -0,0 +1,56 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+
+    <include>
+      <uri>model://drc_practice_hand_wheel_valve_wall</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_wheel_valve_wall</uri>
+      <pose>1.21 1.21 0 0 0 4.71</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_handle_wheel_valve_wall</uri>
+      <pose>0 1.22 0 0 0 6.28</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_wheel_valve_large_wall</uri>
+      <pose>-0.01 0.01 0 0 0 7.85</pose>
+    </include>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- <include> -->
+    <!--   <uri>model://HRP2JSK</uri> -->
+    <!--   <pose>0 -1 0.70 0 0 1.57</pose> -->
+    <!-- </include> -->
+  </world>
+</sdf>

From 49243e9376b10b39a9816ec4e996dd125499c2fd Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Dec 2013 06:01:07 +0000
Subject: [PATCH 138/306] add environment model, empty wall and valve wall

---
 environment_models/empty_wall/model.config    | 14 +++
 environment_models/empty_wall/model.sdf       | 23 +++++
 .../wheel_valve_wall/model.config             | 14 +++
 environment_models/wheel_valve_wall/model.sdf | 91 +++++++++++++++++++
 4 files changed, 142 insertions(+)
 create mode 100644 environment_models/empty_wall/model.config
 create mode 100644 environment_models/empty_wall/model.sdf
 create mode 100644 environment_models/wheel_valve_wall/model.config
 create mode 100644 environment_models/wheel_valve_wall/model.sdf

diff --git a/environment_models/empty_wall/model.config b/environment_models/empty_wall/model.config
new file mode 100644
index 00000000..bbee6d0e
--- /dev/null
+++ b/environment_models/empty_wall/model.config
@@ -0,0 +1,14 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>DRC Practice: Wheel valve large wall</name>
+  <version>0.1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+  <description>
+    A combination of drc_practice_wall and multiple drc_practice_wheel_valve_large models.
+  </description>
+</model>
diff --git a/environment_models/empty_wall/model.sdf b/environment_models/empty_wall/model.sdf
new file mode 100644
index 00000000..1da7d814
--- /dev/null
+++ b/environment_models/empty_wall/model.sdf
@@ -0,0 +1,23 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="wheel_valve_large_wall">
+    <include>
+      <uri>model://drc_practice_valve_wall</uri>
+      <name>wall</name>
+      <static>false</static>
+    </include>
+
+    <joint name="wall-joint" type="revolute">
+      <parent>world</parent>
+      <child>wall::link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+  </model>
+</sdf>
diff --git a/environment_models/wheel_valve_wall/model.config b/environment_models/wheel_valve_wall/model.config
new file mode 100644
index 00000000..bbee6d0e
--- /dev/null
+++ b/environment_models/wheel_valve_wall/model.config
@@ -0,0 +1,14 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>DRC Practice: Wheel valve large wall</name>
+  <version>0.1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+  <description>
+    A combination of drc_practice_wall and multiple drc_practice_wheel_valve_large models.
+  </description>
+</model>
diff --git a/environment_models/wheel_valve_wall/model.sdf b/environment_models/wheel_valve_wall/model.sdf
new file mode 100644
index 00000000..f82b1e24
--- /dev/null
+++ b/environment_models/wheel_valve_wall/model.sdf
@@ -0,0 +1,91 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="wheel_valve_large_wall">
+    <include>
+      <uri>model://drc_practice_valve_wall</uri>
+      <name>wall</name>
+      <static>false</static>
+    </include>
+
+    <joint name="wall-joint" type="revolute">
+      <parent>world</parent>
+      <child>wall::link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <include>
+      <uri>model://drc_practice_handle_wheel_valve</uri>
+      <name>valve_0</name>
+      <pose>0.919587 -0.0092 0.285 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_handle_wheel_valve</uri>
+      <name>valve_1</name>
+      <pose>0.919587 -0.0092 0.8954 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_handle_wheel_valve</uri>
+      <name>valve_2</name>
+      <pose>0.919587 -0.0092 1.5058 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_handle_wheel_valve</uri>
+      <name>valve_3</name>
+      <pose>0.919587 -0.0092 2.1162 0 0 0</pose>
+    </include>
+
+
+    <include>
+      <uri>model://drc_practice_wheel_valve_large</uri>
+      <name>valve_4</name>
+      <pose>0.614335 -0.0092 0.5896 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_wheel_valve_large</uri>
+      <name>valve_5</name>
+      <pose>0.614335 -0.0092 1.2 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_wheel_valve_large</uri>
+      <name>valve_6</name>
+      <pose>0.614335 -0.0092 1.8104 0 0 0</pose>
+    </include>
+
+
+    <include>
+      <uri>model://drc_practice_ball_valve</uri>
+      <name>valve_7</name>
+      <pose>0.309083 -0.0092 0.285 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_ball_valve</uri>
+      <name>valve_8</name>
+      <pose>0.309083 -0.0092 0.8954 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_ball_valve</uri>
+      <name>valve_9</name>
+      <pose>0.309083 -0.0092 1.5058 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_ball_valve</uri>
+      <name>valve_10</name>
+      <pose>0.309083 -0.0092 2.1162 0 0 0</pose>
+    </include>
+
+  </model>
+</sdf>

From 2c669142207be8ca7ff5794ff9a76cbaab09c848 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Dec 2013 06:01:37 +0000
Subject: [PATCH 139/306] valve comfiguratoin changed

---
 worlds/drc_sample.world | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/worlds/drc_sample.world b/worlds/drc_sample.world
index d8d3cfd7..5063dd3e 100644
--- a/worlds/drc_sample.world
+++ b/worlds/drc_sample.world
@@ -26,22 +26,22 @@
     <!-- A ground plane -->
 
     <include>
-      <uri>model://drc_practice_hand_wheel_valve_wall</uri>
-      <pose>0 0 0 0 0 0</pose>
+      <uri>model://wheel_valve_wall</uri>
+      <pose>1.2 0 0 0 0 3.14</pose>
     </include>
 
     <include>
-      <uri>model://drc_practice_wheel_valve_wall</uri>
+      <uri>model://empty_wall</uri>
       <pose>1.21 1.21 0 0 0 4.71</pose>
     </include>
 
     <include>
-      <uri>model://drc_practice_handle_wheel_valve_wall</uri>
+      <uri>model://empty_wall</uri>
       <pose>0 1.22 0 0 0 6.28</pose>
     </include>
 
     <include>
-      <uri>model://drc_practice_wheel_valve_large_wall</uri>
+      <uri>model://empty_wall</uri>
       <pose>-0.01 0.01 0 0 0 7.85</pose>
     </include>
 

From 469abbb3a8d47b9e457d44559d216f49345ca7f9 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Dec 2013 07:43:18 +0000
Subject: [PATCH 140/306] add cutout_wall models

---
 .../materials/scripts/cutout_wall.material    |  17 ++++++
 .../materials/textures/cutout_wall.jpg        | Bin 0 -> 3349076 bytes
 environment_models/cutout_wall/model.config   |  17 ++++++
 environment_models/cutout_wall/model.sdf      |  52 ++++++++++++++++++
 4 files changed, 86 insertions(+)
 create mode 100644 environment_models/cutout_wall/materials/scripts/cutout_wall.material
 create mode 100644 environment_models/cutout_wall/materials/textures/cutout_wall.jpg
 create mode 100644 environment_models/cutout_wall/model.config
 create mode 100644 environment_models/cutout_wall/model.sdf

diff --git a/environment_models/cutout_wall/materials/scripts/cutout_wall.material b/environment_models/cutout_wall/materials/scripts/cutout_wall.material
new file mode 100644
index 00000000..790843aa
--- /dev/null
+++ b/environment_models/cutout_wall/materials/scripts/cutout_wall.material
@@ -0,0 +1,17 @@
+material drc_practice/cutout_wall
+{
+	receive_shadows off
+	technique
+	{
+		pass
+		{
+			texture_unit
+			{
+				texture cutout_wall.jpg
+				filtering anistropic
+				max_anisotropy 16
+				scale 1 1
+			}
+		}
+	}
+}
diff --git a/environment_models/cutout_wall/materials/textures/cutout_wall.jpg b/environment_models/cutout_wall/materials/textures/cutout_wall.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5e6049484997ad79c827e738141953f889fbcae1
GIT binary patch
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zkNym-<Hk_?l)t0QbY68^*waa?{V>Jt;ol8(whT9uuP8*N=eL7q5TK=K5H(kys>Xvy
zV#9>JS0`>`^a;hZdN|H-S6!0j{EXJ^AFKJ*z<vNgHLZ4gDoH0>*+?t)>9~{Ja9aHp
z;?~(KTQ61c^)ELZ9mwS_{sO{+PcHDu&gEYid9HCyuA=DDv>rw+2YDbjX*rX?Jr{J1
z?Oc?Lk$9(a_`8lD9)WT6WRB-&_D`No=`aX&AI4`oOw=U~D|MK$c^R$i;<kdo0vi{P
z;jATz>Ey5OK939>2(4-|L$Os~Y>iCTsp8%Z``!=bMH%?a9-lnG1nzzaTe4uK)E_n)
z=?ninpbd^qt<_wLV*P}F5uCpZi6@_EN+zYD=<5%TER#2Y8Uc~e279h3P{jSZU7G8I
zsz9HmBv?=BR^^!@-TjwM3EM8|`$IgiLV6p9TX4joXQ@MvSCokc@lXqu)D}EtxLM+m
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zK6&muJ+S4-OZkU}IgxLI(M<q6a`z&o^ozeQ(?wPy*-r~DrByq_j6C5ax^G+qp#8>A
z-WQeL)y*zW3(en-Y!$Y8m^etdd7XJ`%g(?={cc(TF>E&Z@A~w=`i8t2Ej7I`WLB2|
z4x|h<4P`K^Xy4KqbkjRfq6s7?bT-qT{m@~KDgD?@3cXDyP3NJ0V<*#^rH*?{xDqr$
zZSOINXsB<Q5Z#N0lqx3*<L$KDK-J-tan_vU?hWCp{ta^|jeveXlOAB;02$Y-I<u?!
z;d=;>2fFt4zHKcaiwwqaKMWbhP>0Hz#_s(043^pgKU4j&wAO;JPd87vqSOsC=^U$A
zaGv}jH(WF2+9c($y2qaG{-qK*2LbeiuXBzv*qNa={~5x}jA50ebgx|)m-uiYomAd^
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z^JI$6?g_a+wJ<JJf{B=B`my5c9lJh_*d2{j;Ae~l;oRfwF3XuxLZ>L|I}i7m8jg_*
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zFuk9()}6S(aNHswk@Py&c70h)iJgCpq5y=H>i^aBBB|3DcK(|MTAAra##r<J0Br1N
Axc~qF

literal 0
HcmV?d00001

diff --git a/environment_models/cutout_wall/model.config b/environment_models/cutout_wall/model.config
new file mode 100644
index 00000000..74a1cd5a
--- /dev/null
+++ b/environment_models/cutout_wall/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Cutout wall</name>
+  <version>1.0</version>
+  <sdf version="1.4">model.sdf</sdf>
+
+  <author>
+    <name>Carlos Agüero</name>
+    <email>caguero@osrfoundation.org</email>
+  </author>
+
+  <description>
+    A grey wall with simple shapes.
+  </description>
+
+</model>
diff --git a/environment_models/cutout_wall/model.sdf b/environment_models/cutout_wall/model.sdf
new file mode 100644
index 00000000..405b430b
--- /dev/null
+++ b/environment_models/cutout_wall/model.sdf
@@ -0,0 +1,52 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="cutout_wall">
+    <static>true</static>
+    <link name="link">
+      <pose>0.6 0 1.2 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>1.2 0.2 2.4</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_without_contact>true</collide_without_contact>
+            <collide_without_contact_bitmask>2</collide_without_contact_bitmask>
+          </contact>
+        </surface>
+
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>1.2 0.2 2.4</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://cutout_wall/materials/scripts</uri>
+            <uri>model://cutout_wall/materials/textures</uri>
+            <name>drc_practice/cutout_wall</name>
+          </script>
+        </material>
+      </visual>
+      <sensor name="mud_contact" type="contact">
+        <always_on>true</always_on>
+        <update_rate>1000</update_rate>
+        <contact>
+          <collision>collision</collision>
+        </contact>
+      </sensor>
+    </link>
+    <plugin name="gazebo_mud" filename="libMudPlugin.so">
+      <contact_sensor_name>link/mud_contact</contact_sensor_name>
+      <stiffness>0.0</stiffness>
+      <damping>40.0</damping>
+      <contact_surface_bitmask>2</contact_surface_bitmask>
+      <link_name>drill::link</link_name>
+    </plugin>
+  </model>
+</sdf>

From ac4c5b7c74431387a704bedc1899e09f31e7272e Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 30 Dec 2013 07:44:12 +0000
Subject: [PATCH 141/306] add cutout_wall

---
 worlds/drc_sample.world | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/worlds/drc_sample.world b/worlds/drc_sample.world
index 5063dd3e..45560075 100644
--- a/worlds/drc_sample.world
+++ b/worlds/drc_sample.world
@@ -31,7 +31,7 @@
     </include>
 
     <include>
-      <uri>model://empty_wall</uri>
+      <uri>model://cutout_wall</uri>
       <pose>1.21 1.21 0 0 0 4.71</pose>
     </include>
 

From 0200c75cf8b167e91b7039b53e501704a9e186b4 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 31 Dec 2013 13:28:33 +0000
Subject: [PATCH 142/306] add drill model

---
 worlds/drc_sample.world | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/worlds/drc_sample.world b/worlds/drc_sample.world
index 45560075..35f46395 100644
--- a/worlds/drc_sample.world
+++ b/worlds/drc_sample.world
@@ -45,6 +45,18 @@
       <pose>-0.01 0.01 0 0 0 7.85</pose>
     </include>
 
+
+    <include>
+      <uri>model://table</uri>
+      <static>true</static>
+      <pose>3.5 0 0 0 0 1.57</pose>
+    </include>
+    <include>
+      <uri>model://cordless_drill</uri>
+      <pose>3.5 0 1.0 0 0 1.57</pose>
+    </include>
+
+
     <include>
       <uri>model://ground_plane</uri>
     </include>

From b137d6eb815cfdff5636ef8052c835c41a2e7c45 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 1 Jan 2014 00:27:46 +0000
Subject: [PATCH 143/306] add drcsim_model_resources dir to GAZEBO_MODEL_PATH

---
 setup.sh                |  3 ++-
 worlds/drc_sample.world | 20 +++++++++++++++++---
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/setup.sh b/setup.sh
index e4c468a6..4e0ecc93 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,10 +1,11 @@
 pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
+drcdir=`rospack find drcsim_model_resources`
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
-    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH
+    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments
     export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi
diff --git a/worlds/drc_sample.world b/worlds/drc_sample.world
index 35f46395..2a001085 100644
--- a/worlds/drc_sample.world
+++ b/worlds/drc_sample.world
@@ -45,17 +45,31 @@
       <pose>-0.01 0.01 0 0 0 7.85</pose>
     </include>
 
-
+    <!-- drill -->
     <include>
       <uri>model://table</uri>
       <static>true</static>
-      <pose>3.5 0 0 0 0 1.57</pose>
+      <pose>3.0 0.8 0 0 0 1.57</pose>
     </include>
     <include>
       <uri>model://cordless_drill</uri>
-      <pose>3.5 0 1.0 0 0 1.57</pose>
+      <pose>3.0 0.8 1.0 0 0 1.57</pose>
     </include>
 
+    <!-- hose -->
+    <include>
+      <uri>model://table</uri>
+      <static>true</static>
+      <pose>0.5 3.0 0 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://vrc_firehose_long</uri>
+      <pose>1.1 2.8 1.1 0 0 3.14</pose>
+    </include>
+    <include>
+      <uri>model://vrc_standpipe</uri>
+      <pose>1.0 1.8 1.2 -1.5707 0 3.14</pose>
+    </include>
 
     <include>
       <uri>model://ground_plane</uri>

From 781e5e8814f3b684409e6ebba1a4d6ec318e9e5a Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 10 Jan 2014 07:34:06 +0000
Subject: [PATCH 144/306] update default parameter for sample robot

---
 robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh b/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
index 90660472..0a6293ef 100755
--- a/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
+++ b/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
@@ -12,3 +12,7 @@ sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG
 sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${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}

From 957c69abc847b48a4eec6245741f2ff4fc1782b0 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 10 Jan 2014 07:35:24 +0000
Subject: [PATCH 145/306] add comment for using gdb

---
 launch/robot_hrpsys_bringup.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index 6e3ffd4e..cfd1902b 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -45,6 +45,7 @@
     <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
     <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
     <arg name="hrpsys_periodic_rate" value="$(arg HRPSYS_RATE)" />
+    <!--arg name="RTCD_LAUNCH_PREFIX" value="xterm -e gdb ++args" /-->
   </include>
 
   <!-- hrpsys_ros_bridge -->

From be2e96c7f96dfb8d0c1c8ccafdc498fad7e907a4 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 10 Jan 2014 07:55:59 +0000
Subject: [PATCH 146/306] update parameter for sample robot

---
 config/SampleRobot.yaml | 94 +++++++++++++++++++++++++++--------------
 1 file changed, 63 insertions(+), 31 deletions(-)

diff --git a/config/SampleRobot.yaml b/config/SampleRobot.yaml
index f67b02e8..f84fe7ea 100644
--- a/config/SampleRobot.yaml
+++ b/config/SampleRobot.yaml
@@ -1,6 +1,8 @@
 hrpsys_gazebo_configuration:
-# ///
-  use_synchronized_command: false
+## 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
@@ -36,37 +38,67 @@ hrpsys_gazebo_configuration:
     - 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: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
-    LLEG_HIP_P:      {p: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
-    LLEG_HIP_Y:      {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LLEG_KNEE:       {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
-    LLEG_ANKLE_P:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    LLEG_ANKLE_R:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_R:      {p: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_P:      {p: 4000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
-    RLEG_HIP_Y:      {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RLEG_KNEE:       {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
-    RLEG_ANKLE_P:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RLEG_ANKLE_R:    {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    WAIST_P:         {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    WAIST_R:         {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    CHEST:           {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    LARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, i_clamp: 0.0}
-    LARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, i_clamp: 0.0}
-    LARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    RARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, i_clamp: 0.0}
-    RARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, i_clamp: 0.0}
-    RARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, i_clamp: 0.0}
+    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:

From ef39eacd60bb7b94ec88fb0557ab32b8001b8363 Mon Sep 17 00:00:00 2001
From: "youhei@jsk.imi.i.u-tokyo.ac.jp"
 <youhei@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 10 Jan 2014 08:53:07 +0000
Subject: [PATCH 147/306] add setting for drcsim

---
 setup.sh | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/setup.sh b/setup.sh
index 4e0ecc93..71bc68e6 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,3 +1,24 @@
+if [ ! -e /usr/share/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"
+    exit 1
+fi
+
+ROS_PACKAGE_PATH_ORG=$ROS_PACKAGE_PATH
+
+unset GAZEBO_MODEL_PATH
+unset GAZEBO_RESOURCE_PATH
+unset GAZEBO_MASTER_URI
+unset GAZEBO_PLUGIN_PATH
+unset GAZEBO_MODEL_DATABASE_URI
+source /usr/share/drcsim/setup.sh
+
+## append original package path because /opt/ros/groovy/setup.sh have been called in drcsim/setup.sh
+export ROS_PACKAGE_PATH=$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"`
+
+##
 pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 drcdir=`rospack find drcsim_model_resources`

From c03253821cc82f839a2b88ccfef3d655e78c607a Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 14 Jan 2014 12:23:02 +0000
Subject: [PATCH 148/306] set p_v and use_velocity_feedback true for HRP2JSK

---
 config/HRP2JSK.yaml | 70 ++++++++++++++++++++++++---------------------
 1 file changed, 38 insertions(+), 32 deletions(-)

diff --git a/config/HRP2JSK.yaml b/config/HRP2JSK.yaml
index 1269d5a4..31b92070 100644
--- a/config/HRP2JSK.yaml
+++ b/config/HRP2JSK.yaml
@@ -1,5 +1,11 @@
 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:
     - RLEG_JOINT0
@@ -35,38 +41,38 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT6
     - LARM_JOINT7
   gains:
-    CHEST_JOINT0: {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0}
-    CHEST_JOINT1: {p: 1000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT0:  {p:  150.0, d:   0.5, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT1:  {p:  700.0, d:   1.5, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    LLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    LLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT5:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    RLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    RLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    RLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    RLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    RLEG_JOINT5:  {p: 2000.0, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    CHEST_JOINT0: {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    CHEST_JOINT1: {p: 1000.0, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    HEAD_JOINT0:  {p:  150.0, d:   0.5, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    HEAD_JOINT1:  {p:  700.0, d:   1.5, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
+    LLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
+    LLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    LLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    LLEG_JOINT5:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    RLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
+    RLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
+    RLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    RLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    RLEG_JOINT5:  {p: 2000.0, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
 
   force_torque_sensors:
     - rfsensor

From dbc6a7e9e4c19fb7f383ff9ddf7d62ddd81f01b3 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 15 Jan 2014 02:56:12 +0000
Subject: [PATCH 149/306] added comment to config/HRP2JSK.yaml

---
 config/HRP2JSK.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/config/HRP2JSK.yaml b/config/HRP2JSK.yaml
index 31b92070..595847db 100644
--- a/config/HRP2JSK.yaml
+++ b/config/HRP2JSK.yaml
@@ -7,6 +7,7 @@ hrpsys_gazebo_configuration:
   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

From 15cbc7f5cdda94c0c038ab541f96fb15b2743a0d Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 15 Jan 2014 06:28:41 +0000
Subject: [PATCH 150/306] added p_v to STARO.yaml

---
 config/STARO.yaml | 71 ++++++++++++++++++++++++++---------------------
 1 file changed, 39 insertions(+), 32 deletions(-)

diff --git a/config/STARO.yaml b/config/STARO.yaml
index 8b61d75d..027d5e61 100644
--- a/config/STARO.yaml
+++ b/config/STARO.yaml
@@ -1,6 +1,13 @@
 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
@@ -35,38 +42,38 @@ hrpsys_gazebo_configuration:
     - LLEG_JOINT4
     - LLEG_JOINT5
   gains:
-    CHEST_JOINT0: {p: 300000, d:   8.0, i: 0.0, i_clamp: 0.0}
-    CHEST_JOINT1: {p: 100000, d:   4.0, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT0:  {p:  15000, d:   0.5, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT1:  {p:  70000, d:   1.5, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    RLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    RLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    RLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    RLEG_JOINT5:  {p: 200000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    LLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0}
-    LLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
-    LLEG_JOINT5:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0}
+    CHEST_JOINT0: {p: 300000, d:   8.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    CHEST_JOINT1: {p: 100000, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    HEAD_JOINT0:  {p:  15000, d:   0.5, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    HEAD_JOINT1:  {p:  70000, d:   1.5, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    LARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
+    RLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, 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: 4.0, p_v: 250.0}
+    RLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    RLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    RLEG_JOINT5:  {p: 200000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    LLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, 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: 4.0, p_v: 250.0}
+    LLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    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: 2.0, p_v: 250.0}
 #   force_torque_sensors:
 #     - rfsensor
 #     - lfsensor

From 4ab3becd6be92cdbdf245d35f4751cb9f26e7e2e Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 15 Jan 2014 06:30:18 +0000
Subject: [PATCH 151/306] replace fixed to revolute for STARO HEAD_JOINT0

---
 robot_models/STARO/STARO_optional_urdf_setting.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/robot_models/STARO/STARO_optional_urdf_setting.sh b/robot_models/STARO/STARO_optional_urdf_setting.sh
index b2af2bff..e98e4d6d 100755
--- a/robot_models/STARO/STARO_optional_urdf_setting.sh
+++ b/robot_models/STARO/STARO_optional_urdf_setting.sh
@@ -9,4 +9,5 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+sed -i -e 's@<joint name="HEAD_JOINT0" type="fixed">@<joint name="HEAD_JOINT0" type="revolute">@g' ${OUTPUT_FILE}
 

From c6bd3d6d1249b011dd7ba3bbe503ee720c378490 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 16 Jan 2014 12:36:09 +0000
Subject: [PATCH 152/306] overwrite vlimit of HRP2 urdf model because of
 collada parser.

---
 robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
index 3fea1252..a824e43b 100755
--- a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
@@ -19,3 +19,6 @@ sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
 # if you want to simulate self collision, uncomment the following line. (robot motion becomes unstable.)
 # sed -i -e "s@</mu2>@</mu2>\n    <selfCollide>true</selfCollide>@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}

From 3ef640377438037e02e3d1a808a577274a4a0182 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 17 Jan 2014 03:43:53 +0000
Subject: [PATCH 153/306] changed p_v for HRP2.

---
 config/HRP2JSK.yaml | 64 ++++++++++++++++++++++-----------------------
 1 file changed, 32 insertions(+), 32 deletions(-)

diff --git a/config/HRP2JSK.yaml b/config/HRP2JSK.yaml
index 595847db..f0a4ab99 100644
--- a/config/HRP2JSK.yaml
+++ b/config/HRP2JSK.yaml
@@ -42,38 +42,38 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT6
     - LARM_JOINT7
   gains:
-    CHEST_JOINT0: {p: 3000.0, d:   8.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    CHEST_JOINT1: {p: 1000.0, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    HEAD_JOINT0:  {p:  150.0, d:   0.5, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    HEAD_JOINT1:  {p:  700.0, d:   1.5, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT0:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT1:  {p: 1000.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT2:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT3:  {p: 1500.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT4:  {p:  200.0, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT5:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT6:  {p:  400.0, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RARM_JOINT7:  {p:   20.0, d:  0.02, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    LLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
-    LLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
-    LLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    LLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    LLEG_JOINT5:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    RLEG_JOINT0:  {p: 1500.0, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_JOINT1:  {p: 2000.0, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
-    RLEG_JOINT2:  {p: 3800.0, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 250.0}
-    RLEG_JOINT3:  {p: 3400.0, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    RLEG_JOINT4:  {p: 2800.0, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    RLEG_JOINT5:  {p: 2000.0, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
+    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

From 94edb7fb0d5622c015a996ff9c6bbe80ef972719 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 19 Jan 2014 14:08:15 +0000
Subject: [PATCH 154/306] add 83B1 wall model

---
 .../materials/scripts/83B1_wall.material      |  17 ++++++
 .../materials/textures/83B1_wall.jpg          | Bin 0 -> 1997985 bytes
 .../materials/textures/cutout_wall.jpg        | Bin 0 -> 3349076 bytes
 environment_models/83B1_wall/model.config     |  16 ++++++
 environment_models/83B1_wall/model.sdf        |  52 ++++++++++++++++++
 5 files changed, 85 insertions(+)
 create mode 100644 environment_models/83B1_wall/materials/scripts/83B1_wall.material
 create mode 100644 environment_models/83B1_wall/materials/textures/83B1_wall.jpg
 create mode 100644 environment_models/83B1_wall/materials/textures/cutout_wall.jpg
 create mode 100644 environment_models/83B1_wall/model.config
 create mode 100644 environment_models/83B1_wall/model.sdf

diff --git a/environment_models/83B1_wall/materials/scripts/83B1_wall.material b/environment_models/83B1_wall/materials/scripts/83B1_wall.material
new file mode 100644
index 00000000..cb1a92c1
--- /dev/null
+++ b/environment_models/83B1_wall/materials/scripts/83B1_wall.material
@@ -0,0 +1,17 @@
+material jsk/83B1_wall
+{
+	receive_shadows off
+	technique
+	{
+		pass
+		{
+			texture_unit
+			{
+				texture 83B1_wall.jpg
+				filtering anistropic
+				max_anisotropy 16
+				scale 1 1
+			}
+		}
+	}
+}
diff --git a/environment_models/83B1_wall/materials/textures/83B1_wall.jpg b/environment_models/83B1_wall/materials/textures/83B1_wall.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..52869eb376a292367b40038744a99dd511ffdb69
GIT binary patch
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diff --git a/environment_models/83B1_wall/model.config b/environment_models/83B1_wall/model.config
new file mode 100644
index 00000000..80c3110b
--- /dev/null
+++ b/environment_models/83B1_wall/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>83B1 wall</name>
+  <version>1.0</version>
+  <sdf version="1.4">model.sdf</sdf>
+
+  <author>
+    <name>s-noda</name>
+  </author>
+
+  <description>
+    83B1 wall
+  </description>
+
+</model>
diff --git a/environment_models/83B1_wall/model.sdf b/environment_models/83B1_wall/model.sdf
new file mode 100644
index 00000000..9a9c3a0b
--- /dev/null
+++ b/environment_models/83B1_wall/model.sdf
@@ -0,0 +1,52 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="83B1_wall">
+    <static>true</static>
+    <link name="link">
+      <pose>0.45 0.025 0.9 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+	    <size>0.9 0.05 1.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_without_contact>true</collide_without_contact>
+            <collide_without_contact_bitmask>2</collide_without_contact_bitmask>
+          </contact>
+        </surface>
+
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+	    <size>0.9 0.05 1.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://83B1_wall/materials/scripts</uri>
+            <uri>model://83B1_wall/materials/textures</uri>
+            <name>jsk/83B1_wall</name>
+          </script>
+        </material>
+      </visual>
+      <sensor name="mud_contact" type="contact">
+        <always_on>true</always_on>
+        <update_rate>1000</update_rate>
+        <contact>
+          <collision>collision</collision>
+        </contact>
+      </sensor>
+    </link>
+    <plugin name="gazebo_mud" filename="libMudPlugin.so">
+      <contact_sensor_name>link/mud_contact</contact_sensor_name>
+      <stiffness>0.0</stiffness>
+      <damping>40.0</damping>
+      <contact_surface_bitmask>2</contact_surface_bitmask>
+      <link_name>drill::link</link_name>
+    </plugin>
+  </model>
+</sdf>

From 2d3ac9f0a9c8147919ae0f75905dcb6a161a41b1 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 19 Jan 2014 14:09:07 +0000
Subject: [PATCH 155/306] remove unused picture

---
 .../materials/textures/cutout_wall.jpg        | Bin 3349076 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 environment_models/83B1_wall/materials/textures/cutout_wall.jpg

diff --git a/environment_models/83B1_wall/materials/textures/cutout_wall.jpg b/environment_models/83B1_wall/materials/textures/cutout_wall.jpg
deleted file mode 100644
index 5e6049484997ad79c827e738141953f889fbcae1..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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Axc~qF


From c91f94d6b38855a76d04bde71c75773892c59c2b Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 19 Jan 2014 14:09:30 +0000
Subject: [PATCH 156/306] add 83B1_valve_wall model

---
 .../83B1_valve_wall/model.config              | 10 +++++
 environment_models/83B1_valve_wall/model.sdf  | 41 +++++++++++++++++++
 2 files changed, 51 insertions(+)
 create mode 100644 environment_models/83B1_valve_wall/model.config
 create mode 100644 environment_models/83B1_valve_wall/model.sdf

diff --git a/environment_models/83B1_valve_wall/model.config b/environment_models/83B1_valve_wall/model.config
new file mode 100644
index 00000000..6673b3f1
--- /dev/null
+++ b/environment_models/83B1_valve_wall/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>JSK 83B1 wall</name>
+  <version>0.1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+  <description>
+    JSK 83B1 wall
+  </description>
+</model>
diff --git a/environment_models/83B1_valve_wall/model.sdf b/environment_models/83B1_valve_wall/model.sdf
new file mode 100644
index 00000000..3374f1e9
--- /dev/null
+++ b/environment_models/83B1_valve_wall/model.sdf
@@ -0,0 +1,41 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="83B1_valve_wall">
+    <include>
+      <uri>model://83B1_wall</uri>
+      <name>wall</name>
+      <static>false</static>
+    </include>
+
+    <joint name="wall-joint" type="revolute">
+      <parent>world</parent>
+      <child>wall::link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <include>
+      <uri>model://drc_practice_handle_wheel_valve</uri>
+      <name>valve_1</name>
+      <pose>0.65 0.1 0.8 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_wheel_valve_large</uri>
+      <name>valve_2</name>
+      <pose>0.35 0.1 1.1 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://drc_practice_ball_valve</uri>
+      <name>valve_3</name>
+      <pose>0.05 0.1 0.8 0 0 0</pose>
+    </include>
+
+  </model>
+</sdf>

From c332e63571ec853019996ac7d7d9c55375f91958 Mon Sep 17 00:00:00 2001
From: "s-noda@jsk.imi.i.u-tokyo.ac.jp"
 <s-noda@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sun, 19 Jan 2014 14:11:04 +0000
Subject: [PATCH 157/306] 83B1_drc_box.world, there are no drill wall and hose
 cylinder

---
 worlds/83B1_drc_box.world | 83 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 worlds/83B1_drc_box.world

diff --git a/worlds/83B1_drc_box.world b/worlds/83B1_drc_box.world
new file mode 100644
index 00000000..c7afeb5a
--- /dev/null
+++ b/worlds/83B1_drc_box.world
@@ -0,0 +1,83 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+
+    <include>
+      <uri>model://83B1_valve_wall</uri>
+      <pose>0.9 0 0 0 0 3.14</pose>
+    </include>
+
+    <include>
+      <uri>model://83B1_wall</uri>
+      <pose>0.9 0.9 0 0 0 4.71</pose>
+    </include>
+
+    <include>
+      <uri>model://83B1_wall</uri>
+      <pose>0 0.9 0 0 0 6.28</pose>
+    </include>
+
+    <include>
+      <uri>model://83B1_wall</uri>
+      <pose>0 0 0 0 0 7.85</pose>
+    </include>
+    <!--
+    <include>
+      <uri>model://empty_wall</uri>
+      <pose>-0.01 0.01 0 0 0 7.85</pose>
+    </include>
+    -->
+
+    <!-- drill -->
+    <include>
+      <uri>model://table</uri>
+      <static>true</static>
+      <pose>2.0 0.4 0 0 0 1.57</pose>
+    </include>
+    <include>
+      <uri>model://cordless_drill</uri>
+      <pose>2.0 0.4 1.0 0 0 1.57</pose>
+    </include>
+
+    <!-- hose -->
+    <include>
+      <uri>model://vrc_firehose_long</uri>
+      <pose>-0.6 -0.7 1.0 0 0 1.57</pose>
+    </include>
+    <include>
+      <uri>model://vrc_standpipe</uri>
+      <pose>-0.6 0.9 1.0 -1.5707 0 4.71</pose>
+    </include>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- <include> -->
+    <!--   <uri>model://HRP2JSK</uri> -->
+    <!--   <pose>0 -1 0.70 0 0 1.57</pose> -->
+    <!-- </include> -->
+  </world>
+</sdf>

From 76c56eba1ea5790fff0a2c18e06f3ae29092c1fd Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 20 Jan 2014 12:08:47 +0000
Subject: [PATCH 158/306] added HRP2JSKNT directroy for making urdf models

---
 .../HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh    | 10 ++++++++++
 robot_models/HRP2JSKNT/install_robot.sh             |  3 +++
 robot_models/HRP2JSKNT/manifest.xml                 | 13 +++++++++++++
 3 files changed, 26 insertions(+)
 create mode 100755 robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
 create mode 100755 robot_models/HRP2JSKNT/install_robot.sh
 create mode 100644 robot_models/HRP2JSKNT/manifest.xml

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
new file mode 100755
index 00000000..b29ce1e3
--- /dev/null
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+
+## add Plugin settings
+##
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNT</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+
diff --git a/robot_models/HRP2JSKNT/install_robot.sh b/robot_models/HRP2JSKNT/install_robot.sh
new file mode 100755
index 00000000..93b938bc
--- /dev/null
+++ b/robot_models/HRP2JSKNT/install_robot.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNT
diff --git a/robot_models/HRP2JSKNT/manifest.xml b/robot_models/HRP2JSKNT/manifest.xml
new file mode 100644
index 00000000..8c17ae18
--- /dev/null
+++ b/robot_models/HRP2JSKNT/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>HRP2JSKNT</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>HRP2JSKNT.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>

From ae54b167183c75da54da70f248fff599eb09bc81 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 20 Jan 2014 12:09:46 +0000
Subject: [PATCH 159/306] added generate_gazebo_urdf_files(HRP2JSKNT) to
 CMakeList

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4f740900..e9e6f120 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,6 +36,7 @@ endmacro()
 
 generate_gazebo_urdf_file(SampleRobot)
 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)

From 5db7b661847f151245f85c78bfdd6f2e4260c076 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 20 Jan 2014 12:18:57 +0000
Subject: [PATCH 160/306] added generate_gazebo_urdf_files HRP3HAND to
 CMakeList

---
 CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e9e6f120..7711bc4c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,6 +38,8 @@ generate_gazebo_urdf_file(SampleRobot)
 generate_gazebo_urdf_file(HRP2JSK)
 generate_gazebo_urdf_file(HRP2JSKNT)
 generate_gazebo_urdf_file(HRP2JSKNTS)
+generate_gazebo_urdf_file(HRP3HAND_L)
+generate_gazebo_urdf_file(HRP3HAND_R)
 generate_gazebo_urdf_file(STARO)
 generate_gazebo_urdf_file(HRP4C)
 

From ca647c2aa6a8bbe68b931ccaff810796a5bea5db Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 20 Jan 2014 12:20:54 +0000
Subject: [PATCH 161/306] added HRP3HAND directory_under the models

---
 ...tting.sh => HRP3HAND_L_optional_urdf_setting.sh} |  2 +-
 robot_models/HRP2JSKNT/install_robot.sh             |  2 +-
 robot_models/HRP2JSKNT/manifest.xml                 |  4 ++--
 .../HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh  | 10 ++++++++++
 robot_models/HRP3HAND_R/install_robot.sh            |  3 +++
 robot_models/HRP3HAND_R/manifest.xml                | 13 +++++++++++++
 6 files changed, 30 insertions(+), 4 deletions(-)
 rename robot_models/HRP2JSKNT/{HRP2JSKNT_optional_urdf_setting.sh => HRP3HAND_L_optional_urdf_setting.sh} (51%)
 create mode 100755 robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
 create mode 100755 robot_models/HRP3HAND_R/install_robot.sh
 create mode 100644 robot_models/HRP3HAND_R/manifest.xml

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP3HAND_L_optional_urdf_setting.sh
similarity index 51%
rename from robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
rename to robot_models/HRP2JSKNT/HRP3HAND_L_optional_urdf_setting.sh
index b29ce1e3..d46408fd 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP3HAND_L_optional_urdf_setting.sh
@@ -4,7 +4,7 @@ OUTPUT_FILE=$1
 
 ## add Plugin settings
 ##
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNT</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_L</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
diff --git a/robot_models/HRP2JSKNT/install_robot.sh b/robot_models/HRP2JSKNT/install_robot.sh
index 93b938bc..a9bf239d 100755
--- a/robot_models/HRP2JSKNT/install_robot.sh
+++ b/robot_models/HRP2JSKNT/install_robot.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNT
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_L
diff --git a/robot_models/HRP2JSKNT/manifest.xml b/robot_models/HRP2JSKNT/manifest.xml
index 8c17ae18..00c72055 100644
--- a/robot_models/HRP2JSKNT/manifest.xml
+++ b/robot_models/HRP2JSKNT/manifest.xml
@@ -1,12 +1,12 @@
 <?xml version='1.0'?>
 <model>
-  <name>HRP2JSKNT</name>
+  <name>HRP3HAND_L</name>
   <version>0.1.0</version>
   <author>
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP2JSKNT.urdf</sdf>
+  <sdf>HRP3HAND_L.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
new file mode 100755
index 00000000..a2bc474b
--- /dev/null
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+
+## add Plugin settings
+##
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_R</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+
diff --git a/robot_models/HRP3HAND_R/install_robot.sh b/robot_models/HRP3HAND_R/install_robot.sh
new file mode 100755
index 00000000..b7ef4a8b
--- /dev/null
+++ b/robot_models/HRP3HAND_R/install_robot.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_R
diff --git a/robot_models/HRP3HAND_R/manifest.xml b/robot_models/HRP3HAND_R/manifest.xml
new file mode 100644
index 00000000..3c86e7bb
--- /dev/null
+++ b/robot_models/HRP3HAND_R/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>HRP3HAND_R</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>HRP3HAND_R.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>

From eb5cdf10885ce2047440fa5b4b0916fb57995cf0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 20 Jan 2014 12:33:18 +0000
Subject: [PATCH 162/306] fixed mistake of last commit

---
 .../HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh    | 10 ++++++++++
 robot_models/HRP2JSKNT/install_robot.sh             |  2 +-
 robot_models/HRP2JSKNT/manifest.xml                 |  4 ++--
 .../HRP3HAND_L_optional_urdf_setting.sh             |  0
 robot_models/HRP3HAND_L/install_robot.sh            |  3 +++
 robot_models/HRP3HAND_L/manifest.xml                | 13 +++++++++++++
 6 files changed, 29 insertions(+), 3 deletions(-)
 create mode 100755 robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
 rename robot_models/{HRP2JSKNT => HRP3HAND_L}/HRP3HAND_L_optional_urdf_setting.sh (100%)
 create mode 100755 robot_models/HRP3HAND_L/install_robot.sh
 create mode 100644 robot_models/HRP3HAND_L/manifest.xml

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
new file mode 100755
index 00000000..b29ce1e3
--- /dev/null
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+OUTPUT_FILE=$1
+
+## add Plugin settings
+##
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNT</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+
diff --git a/robot_models/HRP2JSKNT/install_robot.sh b/robot_models/HRP2JSKNT/install_robot.sh
index a9bf239d..93b938bc 100755
--- a/robot_models/HRP2JSKNT/install_robot.sh
+++ b/robot_models/HRP2JSKNT/install_robot.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_L
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNT
diff --git a/robot_models/HRP2JSKNT/manifest.xml b/robot_models/HRP2JSKNT/manifest.xml
index 00c72055..8c17ae18 100644
--- a/robot_models/HRP2JSKNT/manifest.xml
+++ b/robot_models/HRP2JSKNT/manifest.xml
@@ -1,12 +1,12 @@
 <?xml version='1.0'?>
 <model>
-  <name>HRP3HAND_L</name>
+  <name>HRP2JSKNT</name>
   <version>0.1.0</version>
   <author>
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP3HAND_L.urdf</sdf>
+  <sdf>HRP2JSKNT.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/HRP2JSKNT/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
similarity index 100%
rename from robot_models/HRP2JSKNT/HRP3HAND_L_optional_urdf_setting.sh
rename to robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
diff --git a/robot_models/HRP3HAND_L/install_robot.sh b/robot_models/HRP3HAND_L/install_robot.sh
new file mode 100755
index 00000000..a9bf239d
--- /dev/null
+++ b/robot_models/HRP3HAND_L/install_robot.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_L
diff --git a/robot_models/HRP3HAND_L/manifest.xml b/robot_models/HRP3HAND_L/manifest.xml
new file mode 100644
index 00000000..00c72055
--- /dev/null
+++ b/robot_models/HRP3HAND_L/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>HRP3HAND_L</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>HRP3HAND_L.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>

From 68bceb2f250a79c6230e02675d525eaed408c0fa Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 20 Jan 2014 13:09:30 +0000
Subject: [PATCH 163/306] added HRP2JSKNT.yaml

---
 config/HRP2JSKNT.yaml | 90 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 90 insertions(+)
 create mode 100644 config/HRP2JSKNT.yaml

diff --git a/config/HRP2JSKNT.yaml b/config/HRP2JSKNT.yaml
new file mode 100644
index 00000000..8435bbbf
--- /dev/null
+++ b/config/HRP2JSKNT.yaml
@@ -0,0 +1,90 @@
+hrpsys_gazebo_configuration:
+  robotname: HRP2JSKNT
+##
+  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}
+    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    RLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+##
+  force_torque_sensors:
+    - lfsensor
+    - rfsensor 
+    - lhsensor
+    - rhsensor 
+  force_torque_sensors_config:
+    lfsensor: {joint_name: 'LLEG_JOINT6', frame_id: 'LLEG_LINK6'}
+    rfsensor: {joint_name: 'RLEG_JOINT6', frame_id: 'RLEG_LINK6'}
+    lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6'}
+    rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6'}
+##
+  imu_sensors:
+    - imu_sensor0
+  imu_sensors:
+    imu_sensor0: {name: 'waist_imu', link_name: 'CHEST_LINK0', frame_id: 'WAIST_LINK0'}

From ff989d9281864ddb3f7f27b655b1bc9c253259ce Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 04:10:17 +0000
Subject: [PATCH 164/306] overwrite inertia because original value is too small

---
 .../HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh         | 7 +++++++
 .../HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh         | 5 +++++
 2 files changed, 12 insertions(+)

diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
index d46408fd..4af32c57 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
@@ -8,3 +8,10 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 # 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 $(grep -n "inertia " HRP3HAND_L.urdf | cut -f1 -d:)
+do
+  sed -i "${l}c\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" HRP3HAND_L.urdf
+done
+
+
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
index a2bc474b..2f4f2a8f 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -8,3 +8,8 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 # 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 $(grep -n "inertia " HRP3HAND_R.urdf | cut -f1 -d:)
+do
+  sed -i "${l}c\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" HRP3HAND_R.urdf
+done

From 948d07c3c918f01b0290cdcf2e9d48fd7109e511 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 05:30:37 +0000
Subject: [PATCH 165/306] added directory HRP2JSKNT_with_HRP3HAND directory
 including xacro file and scripts for conversion

---
 .../HRP2JSKNT_with_HRP3HAND.urdf.xacro        |  5 +++
 .../generate_HRP2JSKNT_with_HRP3HAND.bash     | 45 +++++++++++++++++++
 .../HRP2JSKNT_with_HRP3HAND/manifest.xml      | 13 ++++++
 3 files changed, 63 insertions(+)
 create mode 100644 robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
 create mode 100755 robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
 create mode 100644 robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml

diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro b/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
new file mode 100644
index 00000000..faf6aab6
--- /dev/null
+++ b/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
@@ -0,0 +1,5 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT_with_HRP3HAND" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_modified_for_hrp3hand.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+</robot>
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash b/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
new file mode 100755
index 00000000..9a8c65a7
--- /dev/null
+++ b/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
@@ -0,0 +1,45 @@
+#!/bin/bash
+
+#. ~/.bashrc
+#roscd hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT_with_HRP3HAND/
+rm -rf HRP2JSKNT_modified_for_hrp3hand.urdf HRP2JSKNT_with_HRP3HAND.urdf
+cp ../HRP2JSKNT/HRP2JSKNT.urdf ./HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# remove LARM_LINK6
+L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# remove LARM_LINK7
+L_START=`grep -n "<link name=\"LARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# remove LARM_JOINT7
+L_START=`grep -n "<joint name=\"LARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# remove RARM_LINK6
+L_START=`grep -n "<link name=\"RARM_LINK6\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# remove RARM_LINK7
+L_START=`grep -n "<link name=\"RARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# remove RARM_JOINT7
+L_START=`grep -n "<joint name=\"RARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# generate URDF with xacro
+rosrun xacro xacro.py HRP2JSKNT_with_HRP3HAND.urdf.xacro > HRP2JSKNT_with_HRP3HAND.urdf
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml b/robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml
new file mode 100644
index 00000000..893bfac5
--- /dev/null
+++ b/robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml
@@ -0,0 +1,13 @@
+<?xml version='1.0'?>
+<model>
+  <name>HRP2JSKNT_with_HRP3HAND</name>
+  <version>0.1.0</version>
+  <author>
+    <name>Yohei Kakiuchi</name>
+    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
+  </author>
+  <sdf>HRP2JSKNT_with_HRP3HAND.urdf</sdf>
+  <description>
+    auto generated file ...
+  </description>
+</model>

From 0549e3e78b3f0dab8e58e0065d69de1c34b753be Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 05:31:28 +0000
Subject: [PATCH 166/306] fixed bug in script
 HRP3HAND_L/R_optional_urdf_setting.sh

---
 robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh | 4 ++--
 robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
index 4af32c57..a0ce438a 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
@@ -9,9 +9,9 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
 # overwrite inertia because original value is too small
-for l in $(grep -n "inertia " HRP3HAND_L.urdf | cut -f1 -d:)
+for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:`
 do
-  sed -i "${l}c\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" HRP3HAND_L.urdf
+  sed -i "${l}c\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" ${OUTPUT_FILE}
 done
 
 
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
index 2f4f2a8f..34417064 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -9,7 +9,7 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
 # overwrite inertia because original value is too small
-for l in $(grep -n "inertia " HRP3HAND_R.urdf | cut -f1 -d:)
+for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:`
 do
-  sed -i "${l}c\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" HRP3HAND_R.urdf
+  sed -i "${l}c\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" ${OUTPUT_FILE}
 done

From c4d290a9417c2220eddc82c4d1f71c88621e0edb Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 08:43:34 +0000
Subject: [PATCH 167/306] added launch and world file for HRP2JSKNT

---
 launch/gazebo_hrp2jsknt_no_controllers.launch | 15 ++++++++
 ...2jsknt_with_hrp3hand_no_controllers.launch | 15 ++++++++
 worlds/HRP2JSKNT.world                        | 35 +++++++++++++++++++
 worlds/HRP2JSKNT_with_HRP3HAND.world          | 35 +++++++++++++++++++
 4 files changed, 100 insertions(+)
 create mode 100644 launch/gazebo_hrp2jsknt_no_controllers.launch
 create mode 100644 launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
 create mode 100644 worlds/HRP2JSKNT.world
 create mode 100644 worlds/HRP2JSKNT_with_HRP3HAND.world

diff --git a/launch/gazebo_hrp2jsknt_no_controllers.launch b/launch/gazebo_hrp2jsknt_no_controllers.launch
new file mode 100644
index 00000000..d44d96df
--- /dev/null
+++ b/launch/gazebo_hrp2jsknt_no_controllers.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="HRP2JSKNT.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" />
+    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+  </include>
+</launch>
diff --git a/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch b/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
new file mode 100644
index 00000000..1b420744
--- /dev/null
+++ b/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="HRP2JSKNT_with_HRP3HAND.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="gzname" value="$(arg gzname)" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" />
+    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+  </include>
+</launch>
diff --git a/worlds/HRP2JSKNT.world b/worlds/HRP2JSKNT.world
new file mode 100644
index 00000000..ce2ed449
--- /dev/null
+++ b/worlds/HRP2JSKNT.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://HRP2JSKNT</uri>
+      <pose>0 0 0.73 0 0 0</pose>
+    </include>
+  </world>
+</sdf>
diff --git a/worlds/HRP2JSKNT_with_HRP3HAND.world b/worlds/HRP2JSKNT_with_HRP3HAND.world
new file mode 100644
index 00000000..b060f617
--- /dev/null
+++ b/worlds/HRP2JSKNT_with_HRP3HAND.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://HRP2JSKNT_with_HRP3HAND</uri>
+      <pose>0 0 0.70 0 0 0</pose>
+    </include>
+  </world>
+</sdf>

From 38a51a241b76d3afaf2add610365b4b1c788c597 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 08:44:37 +0000
Subject: [PATCH 168/306] added config file and tuned parameter

---
 config/HRP2JSKNT.yaml  | 81 +++++++++++++++++++++++-------------------
 config/HRP2JSKNTS.yaml | 81 +++++++++++++++++++++++-------------------
 config/HRP3HAND_L.yaml | 25 +++++++++++++
 config/STARO.yaml      | 24 ++++++-------
 4 files changed, 125 insertions(+), 86 deletions(-)
 create mode 100644 config/HRP3HAND_L.yaml

diff --git a/config/HRP2JSKNT.yaml b/config/HRP2JSKNT.yaml
index 8435bbbf..2b4f4cf1 100644
--- a/config/HRP2JSKNT.yaml
+++ b/config/HRP2JSKNT.yaml
@@ -1,6 +1,13 @@
 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]
+# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
   joints:
     - RLEG_JOINT0
     - RLEG_JOINT1
@@ -27,7 +34,7 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-    - RARM_JOINT7
+#    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
@@ -35,43 +42,43 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-    - LARM_JOINT7
+#    - LARM_JOINT7
 ## jointid:
   gains:
-    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+#    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+#    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    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: 350.0}
+    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    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: 350.0}
 ##
   force_torque_sensors:
     - lfsensor
diff --git a/config/HRP2JSKNTS.yaml b/config/HRP2JSKNTS.yaml
index 1974ac18..2a2b42b4 100644
--- a/config/HRP2JSKNTS.yaml
+++ b/config/HRP2JSKNTS.yaml
@@ -1,6 +1,13 @@
 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]
+# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
   joints:
     - RLEG_JOINT0
     - RLEG_JOINT1
@@ -27,7 +34,7 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-    - RARM_JOINT7
+#    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
@@ -35,43 +42,43 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-    - LARM_JOINT7
+#    - LARM_JOINT7
 ## jointid:
   gains:
-    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
-    RLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0}
+    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+#    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+#    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    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: 350.0}
+    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    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: 350.0}
 ##
   force_torque_sensors:
     - lfsensor
diff --git a/config/HRP3HAND_L.yaml b/config/HRP3HAND_L.yaml
new file mode 100644
index 00000000..3e5f1cc7
--- /dev/null
+++ b/config/HRP3HAND_L.yaml
@@ -0,0 +1,25 @@
+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: 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_INDEXMP_R
+    - L_INDEXMP_P
+    - L_INDEXPIP_R
+    - L_MIDDLEPIP_R
+    - L_THUMBCM_Y
+    - L_THUMBCM_P
+## jointid:
+  gains:
+    L_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
diff --git a/config/STARO.yaml b/config/STARO.yaml
index 027d5e61..c5f293a2 100644
--- a/config/STARO.yaml
+++ b/config/STARO.yaml
@@ -62,18 +62,18 @@ hrpsys_gazebo_configuration:
     LARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
     LARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
     LARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, 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: 4.0, p_v: 250.0}
-    RLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    RLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    RLEG_JOINT5:  {p: 200000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    LLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, 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: 4.0, p_v: 250.0}
-    LLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 250.0}
-    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: 2.0, p_v: 250.0}
+    RLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
+    RLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
+    RLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
+    RLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
+    RLEG_JOINT5:  {p: 200000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
+    LLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
+    LLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
+    LLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
+    LLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
+    LLEG_JOINT5:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
 #   force_torque_sensors:
 #     - rfsensor
 #     - lfsensor

From 3e6c6129c77ee52278719e7a48793f77fb5b7315 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 11:26:24 +0000
Subject: [PATCH 169/306] changed config and model files in order to launch
 IOBplugin for robot and hands

---
 launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch | 6 ++++++
 .../HRP2JSKNT_with_HRP3HAND.urdf.xacro                      | 2 +-
 .../generate_HRP2JSKNT_with_HRP3HAND.bash                   | 5 +++--
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch b/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
index 1b420744..82741dde 100644
--- a/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
@@ -12,4 +12,10 @@
     <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
+
+  <rosparam command="load"
+	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+  <rosparam command="load"
+	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
 </launch>
+
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro b/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
index faf6aab6..ca22ca84 100644
--- a/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
+++ b/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT_with_HRP3HAND" >
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_modified_for_hrp3hand.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash b/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
index 9a8c65a7..05c8ae5c 100755
--- a/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
+++ b/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
@@ -1,7 +1,8 @@
 #!/bin/bash
 
-#. ~/.bashrc
-#roscd hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT_with_HRP3HAND/
+PS1=1
+. /home/murooka/.bashrc
+roscd hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT_with_HRP3HAND/
 rm -rf HRP2JSKNT_modified_for_hrp3hand.urdf HRP2JSKNT_with_HRP3HAND.urdf
 cp ../HRP2JSKNT/HRP2JSKNT.urdf ./HRP2JSKNT_modified_for_hrp3hand.urdf
 

From 6544b5afab877bf77b6a2c088aff92dfed89d522 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 16:49:42 +0000
Subject: [PATCH 170/306] added config/HRP3HAND_R.yaml

---
 config/HRP3HAND_R.yaml | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)
 create mode 100644 config/HRP3HAND_R.yaml

diff --git a/config/HRP3HAND_R.yaml b/config/HRP3HAND_R.yaml
new file mode 100644
index 00000000..2d2509db
--- /dev/null
+++ b/config/HRP3HAND_R.yaml
@@ -0,0 +1,25 @@
+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: 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:
+    - L_INDEXMP_R
+    - L_INDEXMP_P
+    - L_INDEXPIP_R
+    - L_MIDDLEPIP_R
+    - L_THUMBCM_Y
+    - L_THUMBCM_P
+## jointid:
+  gains:
+    L_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}

From a34699dfc65a8af00669562670b163d6c791c5a1 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 21 Jan 2014 17:07:21 +0000
Subject: [PATCH 171/306] bug fixed in config/HRP3HAND_R.yaml

---
 config/HRP3HAND_R.yaml | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/config/HRP3HAND_R.yaml b/config/HRP3HAND_R.yaml
index 2d2509db..4ead7a91 100644
--- a/config/HRP3HAND_R.yaml
+++ b/config/HRP3HAND_R.yaml
@@ -9,17 +9,17 @@ hrpsys_gazebo_configuration:
   joint_id_list: [0, 1, 2, 3, 4, 5]
 # joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
   joints:
-    - L_INDEXMP_R
-    - L_INDEXMP_P
-    - L_INDEXPIP_R
-    - L_MIDDLEPIP_R
-    - L_THUMBCM_Y
-    - L_THUMBCM_P
+    - R_INDEXMP_R
+    - R_INDEXMP_P
+    - R_INDEXPIP_R
+    - R_MIDDLEPIP_R
+    - R_THUMBCM_Y
+    - R_THUMBCM_P
 ## jointid:
   gains:
-    L_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    R_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    R_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    R_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    R_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    R_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    R_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}

From b6ff43a7364229e0122cc80052db0aee47aa51d0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 22 Jan 2014 03:43:32 +0000
Subject: [PATCH 172/306] use L/R_ARM_JOINT7 for HRP2JSKNT_with_HRP3HAND
 because hrpsys model has that joint.

---
 config/HRP2JSKNT.yaml                         | 10 ++---
 .../HRP2JSKNT_optional_urdf_setting.sh        |  4 ++
 .../HRP2JSKNTS_optional_urdf_setting.sh       |  3 ++
 .../generate_HRP2JSKNT_with_HRP3HAND.bash     | 44 +++++++++----------
 4 files changed, 34 insertions(+), 27 deletions(-)

diff --git a/config/HRP2JSKNT.yaml b/config/HRP2JSKNT.yaml
index 2b4f4cf1..76f18a7a 100644
--- a/config/HRP2JSKNT.yaml
+++ b/config/HRP2JSKNT.yaml
@@ -6,7 +6,7 @@ hrpsys_gazebo_configuration:
 # 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]
+  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
@@ -34,7 +34,7 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-#    - RARM_JOINT7
+    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
@@ -42,7 +42,7 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-#    - LARM_JOINT7
+    - LARM_JOINT7
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
@@ -56,7 +56,7 @@ hrpsys_gazebo_configuration:
     LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-#    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
@@ -64,7 +64,7 @@ hrpsys_gazebo_configuration:
     RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-#    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index b29ce1e3..3409dec6 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -8,3 +8,7 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 # 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@<mass value="0" />@<mass value="1" />@g' ${OUTPUT_FILE}
+sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>@g' ${OUTPUT_FILE}
+
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
index 82274946..0abc5b30 100755
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
@@ -8,3 +8,6 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 # 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@<mass value="0" />@<mass value="1" />@g' ${OUTPUT_FILE}
+sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>@g' ${OUTPUT_FILE}
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash b/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
index 05c8ae5c..45b42e3a 100755
--- a/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
+++ b/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
@@ -12,17 +12,17 @@ L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "
 L_END=`expr ${L_START} + ${L_END} - 1`
 sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
 
-# remove LARM_LINK7
-L_START=`grep -n "<link name=\"LARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# remove LARM_JOINT7
-L_START=`grep -n "<joint name=\"LARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+# # remove LARM_LINK7
+# L_START=`grep -n "<link name=\"LARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+# L_END=`expr ${L_START} + ${L_END} - 1`
+# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# # remove LARM_JOINT7
+# L_START=`grep -n "<joint name=\"LARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+# L_END=`expr ${L_START} + ${L_END} - 1`
+# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
 
 # remove RARM_LINK6
 L_START=`grep -n "<link name=\"RARM_LINK6\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
@@ -30,17 +30,17 @@ L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "
 L_END=`expr ${L_START} + ${L_END} - 1`
 sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
 
-# remove RARM_LINK7
-L_START=`grep -n "<link name=\"RARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# remove RARM_JOINT7
-L_START=`grep -n "<joint name=\"RARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+# # remove RARM_LINK7
+# L_START=`grep -n "<link name=\"RARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+# L_END=`expr ${L_START} + ${L_END} - 1`
+# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
+
+# # remove RARM_JOINT7
+# L_START=`grep -n "<joint name=\"RARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
+# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+# L_END=`expr ${L_START} + ${L_END} - 1`
+# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
 
 # generate URDF with xacro
 rosrun xacro xacro.py HRP2JSKNT_with_HRP3HAND.urdf.xacro > HRP2JSKNT_with_HRP3HAND.urdf

From 8775290eb56aa362d4ce48970d51d677c0e4a554 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 22 Jan 2014 09:29:32 +0000
Subject: [PATCH 173/306] added HRP2JSKNT_controller_config_for_moveit.yaml for
 moveit

---
 ...RP2JSKNT_controller_config_for_moveit.yaml | 51 +++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100644 config/HRP2JSKNT_controller_config_for_moveit.yaml

diff --git a/config/HRP2JSKNT_controller_config_for_moveit.yaml b/config/HRP2JSKNT_controller_config_for_moveit.yaml
new file mode 100644
index 00000000..daf1d26a
--- /dev/null
+++ b/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

From 43b6e11d2bdb9e8149ec1bc6ce41bb5e0e2cd0a0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 22 Jan 2014 10:54:07 +0000
Subject: [PATCH 174/306] added hrp2jsknt_with_hrp3hand_init.l : use
 controllers specified each limb for Moveit

---
 euslisp/hrp2jsknt_with_hrp3hand_init.l | 81 ++++++++++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 euslisp/hrp2jsknt_with_hrp3hand_init.l

diff --git a/euslisp/hrp2jsknt_with_hrp3hand_init.l b/euslisp/hrp2jsknt_with_hrp3hand_init.l
new file mode 100644
index 00000000..d21c0de2
--- /dev/null
+++ b/euslisp/hrp2jsknt_with_hrp3hand_init.l
@@ -0,0 +1,81 @@
+(load "package://jsk_hrpsys_ros_bridge/euslisp/hrp2jsknt-interface.l")
+(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l")
+
+(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)
+    )))

From bfae91b79d44f5523de19129406fc10911c260d4 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 22 Jan 2014 12:58:30 +0000
Subject: [PATCH 175/306] modify HRP2JSKNT foot link collision in
 optionas_urdf_setting.sh

---
 .../HRP2JSKNT_optional_urdf_setting.sh         | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index 3409dec6..598e77b3 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -12,3 +12,21 @@ sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 sed -i -e 's@<mass value="0" />@<mass value="1" />@g' ${OUTPUT_FILE}
 sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>@g' ${OUTPUT_FILE}
 
+## change foot parameters
+sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+
+## change foot geometry mesh -> box
+sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+
+## delete toe link collision
+sed -i -e 's@    <collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LARM_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${OUTPUT_FILE}
+sed -i -e 's@    <collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RARM_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${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}
+sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}

From 0c8b167d2a8c160d61ee4f3d400292a109c2d6e6 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 27 Jan 2014 05:09:14 +0000
Subject: [PATCH 176/306] set ROBOT_TYPE and USE_INSTANCE_NAME in launch files
 for new iob plugin source.

---
 config/HRP2JSKNTS.yaml                                | 10 +++++-----
 ...zebo_hrp2jsknt_with_hrp3hand_no_controllers.launch |  6 ++++--
 launch/hrp2jsk_hrpsys_bringup.launch                  |  1 +
 launch/hrp2jsknt_hrpsys_bringup.launch                | 11 +++++++++++
 launch/hrp2jsknts_hrpsys_bringup.launch               |  1 +
 .../HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh      |  4 ++--
 6 files changed, 24 insertions(+), 9 deletions(-)
 create mode 100644 launch/hrp2jsknt_hrpsys_bringup.launch

diff --git a/config/HRP2JSKNTS.yaml b/config/HRP2JSKNTS.yaml
index 2a2b42b4..92b35c75 100644
--- a/config/HRP2JSKNTS.yaml
+++ b/config/HRP2JSKNTS.yaml
@@ -6,7 +6,7 @@ hrpsys_gazebo_configuration:
 # 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]
+  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
@@ -34,7 +34,7 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-#    - RARM_JOINT7
+    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
@@ -42,7 +42,7 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-#    - LARM_JOINT7
+    - LARM_JOINT7
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
@@ -56,7 +56,7 @@ hrpsys_gazebo_configuration:
     LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-#    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
@@ -64,7 +64,7 @@ hrpsys_gazebo_configuration:
     RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-#    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
diff --git a/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch b/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
index 82741dde..6dd38999 100644
--- a/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
@@ -5,11 +5,13 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf" />
+    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" /> -->
+    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 
diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index bda41e1f..91797a06 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -15,5 +15,6 @@
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSK" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
   </include>
 </launch>
diff --git a/launch/hrp2jsknt_hrpsys_bringup.launch b/launch/hrp2jsknt_hrpsys_bringup.launch
new file mode 100644
index 00000000..b4b95127
--- /dev/null
+++ b/launch/hrp2jsknt_hrpsys_bringup.launch
@@ -0,0 +1,11 @@
+<launch>
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT_controller_config_for_moveit.yaml" />
+  <!-- <rosparam command="load" -->
+  <!--           file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" /> -->
+
+  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+  </include>
+</launch>
diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
index 21c72cad..2f730de1 100644
--- a/launch/hrp2jsknts_hrpsys_bringup.launch
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -3,6 +3,7 @@
             file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
   </include>
 </launch>
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index 598e77b3..d5ac737d 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -21,8 +21,8 @@ sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -
 sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
 
 ## delete toe link collision
-sed -i -e 's@    <collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LARM_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${OUTPUT_FILE}
-sed -i -e 's@    <collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RARM_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${OUTPUT_FILE}
+sed -i -e 's@    <collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${OUTPUT_FILE}
+sed -i -e 's@    <collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${OUTPUT_FILE}
 
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}

From d5a3f51b078e47f5e25ad0f3157a03ec69ef6c9b Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 30 Jan 2014 08:10:40 +0000
Subject: [PATCH 177/306] bug fixed in removing collision meshed in toe link
 for HRP2JSKNT

---
 robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index d5ac737d..c2a858eb 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -21,8 +21,8 @@ sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -
 sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
 
 ## delete toe link collision
-sed -i -e 's@    <collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${OUTPUT_FILE}
-sed -i -e 's@    <collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@g' ${OUTPUT_FILE}
+sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
+sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
 
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}

From 8f712e49e01fca1282c2e7a3de901b8086df3714 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 30 Jan 2014 17:50:51 +0000
Subject: [PATCH 178/306] delete HRP2JSKNT_with_HRP3HAND directory and related
 files, and generate HRP2JSKNT.urdf which has HRP3HAND and Kinect.

---
 config/HRP2JSKNT.yaml                         | 62 +++++++++----------
 ...2jsknt_with_hrp3hand_no_controllers.launch | 23 -------
 robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro   | 11 ++++
 .../HRP2JSKNT_optional_urdf_setting.sh        | 23 ++++++-
 .../HRP2JSKNT_with_HRP3HAND.urdf.xacro        |  5 --
 .../generate_HRP2JSKNT_with_HRP3HAND.bash     | 46 --------------
 .../HRP2JSKNT_with_HRP3HAND/manifest.xml      | 13 ----
 setup.sh                                      |  3 +-
 worlds/HRP2JSKNT_with_HRP3HAND.world          | 35 -----------
 9 files changed, 65 insertions(+), 156 deletions(-)
 delete mode 100644 launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
 create mode 100644 robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
 delete mode 100644 robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
 delete mode 100755 robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
 delete mode 100644 robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml
 delete mode 100644 worlds/HRP2JSKNT_with_HRP3HAND.world

diff --git a/config/HRP2JSKNT.yaml b/config/HRP2JSKNT.yaml
index 76f18a7a..db2ee7c6 100644
--- a/config/HRP2JSKNT.yaml
+++ b/config/HRP2JSKNT.yaml
@@ -45,40 +45,40 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT7
 ## jointid:
   gains:
-    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    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: 350.0}
-    RLEG_JOINT3: {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: 350.0}
+    RLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
 ##
   force_torque_sensors:
     - lfsensor
diff --git a/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch b/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
deleted file mode 100644
index 6dd38999..00000000
--- a/launch/gazebo_hrp2jsknt_with_hrp3hand_no_controllers.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-  <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSKNT_with_HRP3HAND.world"/>
-  <arg name="PAUSED" default="false"/>
-  <arg name="SYNCHRONIZED" default="false" />
-
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
-    <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD" value="$(arg WORLD)" />
-    <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf" /> -->
-    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
-  </include>
-
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
-</launch>
-
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
new file mode 100644
index 00000000..890609be
--- /dev/null
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
@@ -0,0 +1,11 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT_only_body.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+  <xacro:asus_camera name="xtion" parent="HEAD_LINK1">
+    <origin xyz="0.1120 0.0 0.1255" rpy="0 0 0"/>
+    <!-- origin is calculated from -->
+    <!-- (send (send (send *hrp2jsknt* :head_link1_lk) :worldcoords) :transformation (midcoords 0.5 (send *hrp2jsknt* :camera_l) (send *hrp2jsknt* :camera_r))) -->
+  </xacro:asus_camera>
+</robot>
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index c2a858eb..a6287040 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -9,8 +9,8 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
 # overwrite mass and inertia which have invalid settings.
-sed -i -e 's@<mass value="0" />@<mass value="1" />@g' ${OUTPUT_FILE}
-sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>@g' ${OUTPUT_FILE}
+sed -i -e 's@<mass value="0" />@<mass value="0.1" />@g' ${OUTPUT_FILE}
+sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>@g' ${OUTPUT_FILE}
 
 ## change foot parameters
 sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
@@ -24,9 +24,28 @@ sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -
 sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
 sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
 
+# remove LARM_LINK6
+L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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 "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" ${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}
 sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
+
+# generate URDF with xacro
+cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
+rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
+
+# delete Kinect link visual and collision
+sed -i -e '/<visual>/{N;N;N;N;N;N;N;N;N;N;N;s@<visual>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <geometry>\n        <mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>\n      </geometry>\n    </visual>\n    <collision>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <geometry>\n        <box size="0.035 0.185 0.025"/>\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro b/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
deleted file mode 100644
index ca22ca84..00000000
--- a/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_with_HRP3HAND.urdf.xacro
+++ /dev/null
@@ -1,5 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT_with_HRP3HAND/HRP2JSKNT_modified_for_hrp3hand.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
-</robot>
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash b/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
deleted file mode 100755
index 45b42e3a..00000000
--- a/robot_models/HRP2JSKNT_with_HRP3HAND/generate_HRP2JSKNT_with_HRP3HAND.bash
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/bin/bash
-
-PS1=1
-. /home/murooka/.bashrc
-roscd hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT_with_HRP3HAND/
-rm -rf HRP2JSKNT_modified_for_hrp3hand.urdf HRP2JSKNT_with_HRP3HAND.urdf
-cp ../HRP2JSKNT/HRP2JSKNT.urdf ./HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# remove LARM_LINK6
-L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# # remove LARM_LINK7
-# L_START=`grep -n "<link name=\"LARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-# L_END=`expr ${L_START} + ${L_END} - 1`
-# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# # remove LARM_JOINT7
-# L_START=`grep -n "<joint name=\"LARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-# L_END=`expr ${L_START} + ${L_END} - 1`
-# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# remove RARM_LINK6
-L_START=`grep -n "<link name=\"RARM_LINK6\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# # remove RARM_LINK7
-# L_START=`grep -n "<link name=\"RARM_LINK7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-# L_END=`expr ${L_START} + ${L_END} - 1`
-# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# # remove RARM_JOINT7
-# L_START=`grep -n "<joint name=\"RARM_JOINT7\"" HRP2JSKNT_modified_for_hrp3hand.urdf -m 1 | cut -f1 -d:`
-# L_END=$(sed -n "${L_START},\$p" HRP2JSKNT_modified_for_hrp3hand.urdf | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
-# L_END=`expr ${L_START} + ${L_END} - 1`
-# sed -i -e "${L_START},${L_END}d" HRP2JSKNT_modified_for_hrp3hand.urdf
-
-# generate URDF with xacro
-rosrun xacro xacro.py HRP2JSKNT_with_HRP3HAND.urdf.xacro > HRP2JSKNT_with_HRP3HAND.urdf
diff --git a/robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml b/robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml
deleted file mode 100644
index 893bfac5..00000000
--- a/robot_models/HRP2JSKNT_with_HRP3HAND/manifest.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>HRP2JSKNT_with_HRP3HAND</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>HRP2JSKNT_with_HRP3HAND.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/setup.sh b/setup.sh
index 71bc68e6..392beb45 100644
--- a/setup.sh
+++ b/setup.sh
@@ -22,11 +22,12 @@ export ROS_PACKAGE_PATH=`echo $(echo $ROS_PACKAGE_PATH | sed -e "s/:/\n/g" | awk
 pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 drcdir=`rospack find drcsim_model_resources`
+hectdir=`rosstack find hector_models`
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
-    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments
+    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments:${hectdir}
     export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi
diff --git a/worlds/HRP2JSKNT_with_HRP3HAND.world b/worlds/HRP2JSKNT_with_HRP3HAND.world
deleted file mode 100644
index b060f617..00000000
--- a/worlds/HRP2JSKNT_with_HRP3HAND.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://HRP2JSKNT_with_HRP3HAND</uri>
-      <pose>0 0 0.70 0 0 0</pose>
-    </include>
-  </world>
-</sdf>

From c5a15465e2e47c5d4257ffb2ebe44fabafbeccd8 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 30 Jan 2014 17:56:11 +0000
Subject: [PATCH 179/306] added calc-joint-error.l

---
 scripts/calc-joint-error.l | 60 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 scripts/calc-joint-error.l

diff --git a/scripts/calc-joint-error.l b/scripts/calc-joint-error.l
new file mode 100644
index 00000000..b87bd134
--- /dev/null
+++ b/scripts/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)
+)
+

From f9ad12273ddb28831bb95956964079f6b316f321 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 03:58:09 +0000
Subject: [PATCH 180/306] fixed gazebo_hrp2jsknt_no_controllers.launch and
 changed order of generating URDF models in CMakeList

---
 CMakeLists.txt                                |  4 ++--
 launch/gazebo_hrp2jsknt_no_controllers.launch | 11 +++++++++--
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7711bc4c..79657e82 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,11 +35,11 @@ macro (generate_gazebo_urdf_file _robot_name)
 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(HRP3HAND_L)
-generate_gazebo_urdf_file(HRP3HAND_R)
 generate_gazebo_urdf_file(STARO)
 generate_gazebo_urdf_file(HRP4C)
 
diff --git a/launch/gazebo_hrp2jsknt_no_controllers.launch b/launch/gazebo_hrp2jsknt_no_controllers.launch
index d44d96df..308e5da6 100644
--- a/launch/gazebo_hrp2jsknt_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknt_no_controllers.launch
@@ -5,11 +5,18 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
+    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" /> -->
+    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
+
+  <rosparam command="load"
+	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+  <rosparam command="load"
+	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
 </launch>

From fb8d6f1fdb0d09e7ee5f76a4b18c95573b47e5f0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 06:02:33 +0000
Subject: [PATCH 181/306] add hand end-effector link and joint to HRP2JSKNT

---
 robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index a6287040..19af1377 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -49,3 +49,8 @@ rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OU
 
 # delete Kinect link visual and collision
 sed -i -e '/<visual>/{N;N;N;N;N;N;N;N;N;N;N;s@<visual>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <geometry>\n        <mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>\n      </geometry>\n    </visual>\n    <collision>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <geometry>\n        <box size="0.035 0.185 0.025"/>\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
+
+sed -i -e 's@</robot>@  <link name="RARM_EEF_PARENT" />\n  <link name="RARM_EEF_CHILD" />\n  <joint name="rarm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 0.0392 -0.1245"/>\n    <parent link="RARM_LINK6"/>\n    <child link="RARM_EEF_PARENT"/>\n  </joint>\n  <joint name="rarm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="RARM_EEF_PARENT"/>\n    <child link="RARM_EEF_CHILD"/>\n  </joint>\n  <link name="LARM_EEF_PARENT" />\n  <link name="LARM_EEF_CHILD" />\n  <joint name="larm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 -0.0392 -0.1245"/>\n    <parent link="LARM_LINK6"/>\n    <child link="LARM_EEF_PARENT"/>\n  </joint>\n  <joint name="larm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="LARM_EEF_PARENT"/>\n    <child link="LARM_EEF_CHILD"/>\n  </joint>\n</robot>@g' ${OUTPUT_FILE}
+
+
+

From 7d8a55dc6113377336db45594f9d09a7a07f5099 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 06:46:42 +0000
Subject: [PATCH 182/306] added euslisp/hand-command-publisher.l

---
 euslisp/hand-command-publisher.l | 70 ++++++++++++++++++++++++++++++++
 1 file changed, 70 insertions(+)
 create mode 100644 euslisp/hand-command-publisher.l

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
new file mode 100644
index 00000000..63bf24bb
--- /dev/null
+++ b/euslisp/hand-command-publisher.l
@@ -0,0 +1,70 @@
+(ros::load-ros-manifest "hrpsys_gazebo_msgs")
+
+
+(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))
+	 )))
+
+(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 (elt av-list 0))
+	  (right-av (elt av-list 1)))
+     (setq msg (instance hrpsys_gazebo_msgs::JointCommand :init))
+     (send msg :position (concatenate float-vector (mapcar #'deg2rad (concatenate cons left-av))))
+     (ros::publish "/HRP3HAND_L/joint_command" msg)
+     (send msg :position (concatenate float-vector (mapcar #'deg2rad (concatenate cons right-av))))
+     (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 "(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* #f(10 20 30 40 50 60) :larm)")
+(warn "(send *ri* :get-state :larm)~%")
+
+

From d126161b4b9b14b9314261bce900fe02c3683b4e Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 08:47:03 +0000
Subject: [PATCH 183/306] add IMU and force sensor to HRP2JSKNT

---
 config/HRP2JSKNT.yaml                         | 21 ++++++++++---------
 .../HRP2JSKNT_optional_urdf_setting.sh        |  8 ++++++-
 2 files changed, 18 insertions(+), 11 deletions(-)

diff --git a/config/HRP2JSKNT.yaml b/config/HRP2JSKNT.yaml
index db2ee7c6..5faa54ae 100644
--- a/config/HRP2JSKNT.yaml
+++ b/config/HRP2JSKNT.yaml
@@ -79,19 +79,20 @@ hrpsys_gazebo_configuration:
     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
-    - rfsensor 
+    - rhsensor
     - lhsensor
-    - rhsensor 
   force_torque_sensors_config:
-    lfsensor: {joint_name: 'LLEG_JOINT6', frame_id: 'LLEG_LINK6'}
-    rfsensor: {joint_name: 'RLEG_JOINT6', frame_id: 'RLEG_LINK6'}
-    lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6'}
-    rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6'}
-##
+## 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:
-    imu_sensor0: {name: 'waist_imu', link_name: 'CHEST_LINK0', frame_id: 'WAIST_LINK0'}
+  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/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index 19af1377..e679d72c 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -8,6 +8,12 @@ sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="h
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
+## add IMU sensor (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
+## add force sensors (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
 # overwrite mass and inertia which have invalid settings.
 sed -i -e 's@<mass value="0" />@<mass value="0.1" />@g' ${OUTPUT_FILE}
 sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>@g' ${OUTPUT_FILE}
@@ -40,7 +46,7 @@ sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE}
 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}
+sed -i -e 's@velocity="0.5"@velocity="1000.0"@g' ${OUTPUT_FILE}
 sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
 
 # generate URDF with xacro

From 20f02e46f338ad9a3ba4d9b0029c19ddbe6ce837 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 09:04:37 +0000
Subject: [PATCH 184/306] generate gazebo_robot_no_controller.launch only when
 launch file doesn't exist.

---
 CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 79657e82..6c79c7df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,7 +30,9 @@ macro (generate_gazebo_urdf_file _robot_name)
   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)
-  configure_file(${PROJECT_SOURCE_DIR}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/launch/gazebo_${_sname}_no_controllers.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()
 

From f8f524f312eb6f7d1c962f4fcc0dbae10c053556 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 12:20:37 +0000
Subject: [PATCH 185/306] fixed the joints order in HRP3HAND config

---
 config/HRP3HAND_L.yaml | 4 ++--
 config/HRP3HAND_R.yaml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/config/HRP3HAND_L.yaml b/config/HRP3HAND_L.yaml
index 3e5f1cc7..0d358133 100644
--- a/config/HRP3HAND_L.yaml
+++ b/config/HRP3HAND_L.yaml
@@ -9,12 +9,12 @@ hrpsys_gazebo_configuration:
   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
-    - L_THUMBCM_Y
-    - L_THUMBCM_P
 ## jointid:
   gains:
     L_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
diff --git a/config/HRP3HAND_R.yaml b/config/HRP3HAND_R.yaml
index 4ead7a91..0a7e6ab7 100644
--- a/config/HRP3HAND_R.yaml
+++ b/config/HRP3HAND_R.yaml
@@ -9,12 +9,12 @@ hrpsys_gazebo_configuration:
   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
-    - R_THUMBCM_Y
-    - R_THUMBCM_P
 ## jointid:
   gains:
     R_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}

From dab9d35271f44f347d4175e84b2d943e389fe9f0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 12:20:59 +0000
Subject: [PATCH 186/306] added special pose function for hands

---
 euslisp/hand-command-publisher.l | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index 63bf24bb..fd1ee1e4 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -68,3 +68,26 @@
 (warn "(send *ri* :get-state :larm)~%")
 
 
+
+
+(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 close-hand-pose
+  (&optional l/r)
+  (send-hand-pose :close-pose l/r))
+
+(defun init-hand-pose
+  (&optional l/r)
+  (send-hand-pose :init-pose l/r))
+
+(defun hook-hand-pose
+  (&optional l/r)
+  (send-hand-pose :hook-pose2 l/r))

From fd5f0dd3bc4e86c581a57b0af4e1c70f483aab18 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 31 Jan 2014 12:21:21 +0000
Subject: [PATCH 187/306] mv calc-joint-error.l from scripts to euslisp

---
 {scripts => euslisp}/calc-joint-error.l | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename {scripts => euslisp}/calc-joint-error.l (100%)

diff --git a/scripts/calc-joint-error.l b/euslisp/calc-joint-error.l
similarity index 100%
rename from scripts/calc-joint-error.l
rename to euslisp/calc-joint-error.l

From ad89f555fc623ec70a4fc3d5835562503c9aac10 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 1 Feb 2014 07:51:13 +0000
Subject: [PATCH 188/306] renamed hrp2jsknt_with_hrp3hand_init.l ->
 hrp2jsknt-with-limb-trajectory.l : you need to load this file before
 generating robot-interface when using MoveIt.

---
 euslisp/hand-command-publisher.l                       | 10 +++++-----
 ...rp3hand_init.l => hrp2jsknt-with-limb-trajectory.l} |  0
 2 files changed, 5 insertions(+), 5 deletions(-)
 rename euslisp/{hrp2jsknt_with_hrp3hand_init.l => hrp2jsknt-with-limb-trajectory.l} (100%)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index fd1ee1e4..c99adee0 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -61,11 +61,11 @@
 	 (concatenate float-vector (mapcar #'rad2deg (concatenate cons (send msg :position)))))
    ))
 
-(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* #f(10 20 30 40 50 60) :larm)")
-(warn "(send *ri* :get-state :larm)~%")
+;;(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* #f(10 20 30 40 50 60) :larm)")
+;;(warn "(send *ri* :get-state :larm)~%")
 
 
 
diff --git a/euslisp/hrp2jsknt_with_hrp3hand_init.l b/euslisp/hrp2jsknt-with-limb-trajectory.l
similarity index 100%
rename from euslisp/hrp2jsknt_with_hrp3hand_init.l
rename to euslisp/hrp2jsknt-with-limb-trajectory.l

From d86c1153f09b417a0ba3d081b8de541781d8857e Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 1 Feb 2014 08:13:47 +0000
Subject: [PATCH 189/306] implemented LOOPBACK_MODE to hrp2jsknt_hrpsys launch
 file.

---
 launch/hrp2jsknt_hrpsys_bringup.launch | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/launch/hrp2jsknt_hrpsys_bringup.launch b/launch/hrp2jsknt_hrpsys_bringup.launch
index b4b95127..211dbc98 100644
--- a/launch/hrp2jsknt_hrpsys_bringup.launch
+++ b/launch/hrp2jsknt_hrpsys_bringup.launch
@@ -1,4 +1,16 @@
 <launch>
+
+  <arg name="LOOPBACK_MODE" default="false"/>
+
+  <group if="$(arg LOOPBACK_MODE)">
+    <param name="robot_description"
+	   textfile="$(find HRP2JSKNT)/HRP2JSKNT.urdf" />
+
+    <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+      <param name="publish_frequency" type="double" value="100.0" />
+    </node>
+  </group>
+
   <rosparam command="load"
             file="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT_controller_config_for_moveit.yaml" />
   <!-- <rosparam command="load" -->

From 9241de3482642f6d400bfca59146102cfed651fc Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 1 Feb 2014 08:31:04 +0000
Subject: [PATCH 190/306] changed hand finger link inertia and finger joint
 gains

---
 config/HRP3HAND_L.yaml                               | 12 ++++++------
 config/HRP3HAND_R.yaml                               | 12 ++++++------
 .../HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh     |  4 ++--
 .../HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh   |  2 +-
 .../HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh   |  2 +-
 5 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/config/HRP3HAND_L.yaml b/config/HRP3HAND_L.yaml
index 0d358133..864690b9 100644
--- a/config/HRP3HAND_L.yaml
+++ b/config/HRP3HAND_L.yaml
@@ -17,9 +17,9 @@ hrpsys_gazebo_configuration:
     - L_MIDDLEPIP_R
 ## jointid:
   gains:
-    L_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    L_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    L_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
diff --git a/config/HRP3HAND_R.yaml b/config/HRP3HAND_R.yaml
index 0a7e6ab7..f644b1b8 100644
--- a/config/HRP3HAND_R.yaml
+++ b/config/HRP3HAND_R.yaml
@@ -17,9 +17,9 @@ hrpsys_gazebo_configuration:
     - R_MIDDLEPIP_R
 ## jointid:
   gains:
-    R_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    R_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    R_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    R_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    R_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
-    R_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 100.0}
+    R_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index e679d72c..f9cde550 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -15,8 +15,8 @@ sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="wai
 sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 
 # overwrite mass and inertia which have invalid settings.
-sed -i -e 's@<mass value="0" />@<mass value="0.1" />@g' ${OUTPUT_FILE}
-sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>@g' ${OUTPUT_FILE}
+sed -i -e 's@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
+sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
 
 ## change foot parameters
 sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
index a0ce438a..12adaee2 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
@@ -11,7 +11,7 @@ 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\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" ${OUTPUT_FILE}
+  sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
 
 
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
index 34417064..f040d729 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -11,5 +11,5 @@ 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\      <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\"/>" ${OUTPUT_FILE}
+  sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done

From 6ed176c9d5ae9b183afadb8f04bd708f59b83d82 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 1 Feb 2014 15:35:54 +0000
Subject: [PATCH 191/306] added hrp2jsknt-interface-ex.l for initial settings
 for gazebo and moveit

---
 euslisp/hrp2jsknt-interface-ex.l         | 32 ++++++++++++++++++++++++
 euslisp/hrp2jsknt-with-limb-trajectory.l |  3 ---
 2 files changed, 32 insertions(+), 3 deletions(-)
 create mode 100644 euslisp/hrp2jsknt-interface-ex.l

diff --git a/euslisp/hrp2jsknt-interface-ex.l b/euslisp/hrp2jsknt-interface-ex.l
new file mode 100644
index 00000000..c68d1bba
--- /dev/null
+++ b/euslisp/hrp2jsknt-interface-ex.l
@@ -0,0 +1,32 @@
+(load "package://jsk_hrpsys_ros_bridge/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 init
+  (&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*)))
+
+(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)))
+
diff --git a/euslisp/hrp2jsknt-with-limb-trajectory.l b/euslisp/hrp2jsknt-with-limb-trajectory.l
index d21c0de2..ff0c3b41 100644
--- a/euslisp/hrp2jsknt-with-limb-trajectory.l
+++ b/euslisp/hrp2jsknt-with-limb-trajectory.l
@@ -1,6 +1,3 @@
-(load "package://jsk_hrpsys_ros_bridge/euslisp/hrp2jsknt-interface.l")
-(load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l")
-
 (defmethod hrp2jsknt-interface
   (:init
    ()

From d8968f612af3be0af3db940370ff108de40254d3 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 1 Feb 2014 15:36:16 +0000
Subject: [PATCH 192/306] added print-collision-link-pairs.l

---
 euslisp/print-collision-link-pairs.l | 119 +++++++++++++++++++++++++++
 1 file changed, 119 insertions(+)
 create mode 100644 euslisp/print-collision-link-pairs.l

diff --git a/euslisp/print-collision-link-pairs.l b/euslisp/print-collision-link-pairs.l
new file mode 100644
index 00000000..f63f959c
--- /dev/null
+++ b/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 "\"~%")
+  )
+

From bc0feda2b9f479f27896942e3094c9c004925916 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 1 Feb 2014 16:48:31 +0000
Subject: [PATCH 193/306] use torque feedback mode for hands

---
 config/HRP3HAND_L.yaml | 14 +++++++-------
 config/HRP3HAND_R.yaml | 14 +++++++-------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/config/HRP3HAND_L.yaml b/config/HRP3HAND_L.yaml
index 864690b9..2f484d6d 100644
--- a/config/HRP3HAND_L.yaml
+++ b/config/HRP3HAND_L.yaml
@@ -1,6 +1,6 @@
 hrpsys_gazebo_configuration:
 ## velocity feedback for joint control, use parameter gains/joint_name/p_v
-  use_velocity_feedback: true
+#  use_velocity_feedback: true
 ## synchronized hrpsys and gazebo
 # use_synchronized_command: false
 # name of robot (using for namespace)
@@ -17,9 +17,9 @@ hrpsys_gazebo_configuration:
     - L_MIDDLEPIP_R
 ## jointid:
   gains:
-    L_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    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/config/HRP3HAND_R.yaml b/config/HRP3HAND_R.yaml
index f644b1b8..370b3097 100644
--- a/config/HRP3HAND_R.yaml
+++ b/config/HRP3HAND_R.yaml
@@ -1,6 +1,6 @@
 hrpsys_gazebo_configuration:
 ## velocity feedback for joint control, use parameter gains/joint_name/p_v
-  use_velocity_feedback: true
+#  use_velocity_feedback: true
 ## synchronized hrpsys and gazebo
 # use_synchronized_command: false
 # name of robot (using for namespace)
@@ -17,9 +17,9 @@ hrpsys_gazebo_configuration:
     - R_MIDDLEPIP_R
 ## jointid:
   gains:
-    R_INDEXMP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXMP_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_MIDDLEPIP_R: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_Y: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_P: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    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}

From 6555ca8120a0edd570df4750f32b577c7d4b632d Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Sat, 1 Feb 2014 16:48:58 +0000
Subject: [PATCH 194/306] implemented start/stop-grasp for hands

---
 euslisp/hand-command-publisher.l | 66 +++++++++++++++++++++++++++-----
 euslisp/hrp2jsknt-interface-ex.l |  3 +-
 2 files changed, 58 insertions(+), 11 deletions(-)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index c99adee0..61d3d455 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -1,6 +1,5 @@
 (ros::load-ros-manifest "hrpsys_gazebo_msgs")
 
-
 (defmethod hrp2jsknt-interface
   (:init-hand
    ()
@@ -22,7 +21,23 @@
 	  (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)
+   ))
 
 (defclass hand-command-publisher-class
   :super propertied-object
@@ -41,10 +56,24 @@
    (let* ((left-av (elt av-list 0))
 	  (right-av (elt av-list 1)))
      (setq msg (instance hrpsys_gazebo_msgs::JointCommand :init))
-     (send msg :position (concatenate float-vector (mapcar #'deg2rad (concatenate cons left-av))))
+     (when left-av
+       (send msg :position (concatenate float-vector (mapcar #'deg2rad (concatenate cons left-av)))))
      (ros::publish "/HRP3HAND_L/joint_command" msg)
-     (send msg :position (concatenate float-vector (mapcar #'deg2rad (concatenate cons right-av))))
-     (ros::publish "/HRP3HAND_R/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
    ()
@@ -64,7 +93,7 @@
 ;;(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* #f(10 20 30 40 50 60) :larm)")
+;;(warn "(send *ri* :hand-angle-vector #f(10 20 30 40 50 60) :larm)")
 ;;(warn "(send *ri* :get-state :larm)~%")
 
 
@@ -80,14 +109,31 @@
 	 (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 init-hand-pose
+(defun hook-hand-pose
   (&optional l/r)
-  (send-hand-pose :init-pose l/r))
+  (send-hand-pose :hook-pose l/r))
 
-(defun hook-hand-pose
+(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-hand-pose :hook-pose2 l/r))
+  (send *ri* :stop-grasp l/r))
diff --git a/euslisp/hrp2jsknt-interface-ex.l b/euslisp/hrp2jsknt-interface-ex.l
index c68d1bba..57132392 100644
--- a/euslisp/hrp2jsknt-interface-ex.l
+++ b/euslisp/hrp2jsknt-interface-ex.l
@@ -15,7 +15,8 @@
 	(setq *hrp2jsknt* (instance hrp2jsknt-robot :init)))))
   (setq *hrp2* *hrp2jsknt*)
   (setq *robot* *hrp2jsknt*)
-  (objects (list *hrp2*)))
+  (objects (list *hrp2*))
+  (send *irtviewer* :change-background #f(1 1 1)))
 
 (defun reset-pose
   (&key (wait-time 2000) (wait? t))

From 9557d9b8ece0bc33c6846836d13fd0e0473f706b Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Mon, 3 Feb 2014 16:40:21 +0000
Subject: [PATCH 195/306] add error check code when generate urdf model

---
 robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh  |  5 +++++
 robot_models/HRP2JSK/install_robot.sh                  |  4 +++-
 .../HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh       |  5 +++++
 robot_models/HRP2JSKNT/install_robot.sh                |  4 +++-
 .../HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh     |  5 +++++
 robot_models/HRP2JSKNTS/install_robot.sh               |  3 ++-
 .../HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh     |  5 +++++
 robot_models/HRP3HAND_L/install_robot.sh               |  4 +++-
 .../HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh     |  5 +++++
 robot_models/HRP3HAND_R/install_robot.sh               |  3 ++-
 robot_models/HRP4C/HRP4C_optional_urdf_setting.sh      |  5 +++++
 robot_models/HRP4C/install_robot.sh                    |  3 ++-
 robot_models/STARO/STARO_optional_urdf_setting.sh      |  5 +++++
 robot_models/STARO/install_robot.sh                    |  3 ++-
 .../SampleRobot/SampleRobot_optional_urdf_setting.sh   |  5 +++++
 robot_models/SampleRobot/install_robot.sh              |  3 ++-
 robot_models/install_robot_common.sh                   | 10 ++++++++++
 17 files changed, 69 insertions(+), 8 deletions(-)

diff --git a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
index a824e43b..42810eed 100755
--- a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 
 ## add Plugin settings
diff --git a/robot_models/HRP2JSK/install_robot.sh b/robot_models/HRP2JSK/install_robot.sh
index 338998c4..9471aa94 100755
--- a/robot_models/HRP2JSK/install_robot.sh
+++ b/robot_models/HRP2JSK/install_robot.sh
@@ -1,3 +1,5 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK || exit 1
+exit 0
+
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index f9cde550..a9862c02 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 
 ## add Plugin settings
diff --git a/robot_models/HRP2JSKNT/install_robot.sh b/robot_models/HRP2JSKNT/install_robot.sh
index 93b938bc..f2d2a7ac 100755
--- a/robot_models/HRP2JSKNT/install_robot.sh
+++ b/robot_models/HRP2JSKNT/install_robot.sh
@@ -1,3 +1,5 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNT
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNT || exit 1
+exit 0
+
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
index 0abc5b30..9116f2d4 100755
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 
 ## add Plugin settings
diff --git a/robot_models/HRP2JSKNTS/install_robot.sh b/robot_models/HRP2JSKNTS/install_robot.sh
index 090cca9c..f9255c5c 100755
--- a/robot_models/HRP2JSKNTS/install_robot.sh
+++ b/robot_models/HRP2JSKNTS/install_robot.sh
@@ -1,3 +1,4 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS || exit 1
+exit 0
diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
index 12adaee2..607507e0 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 
 ## add Plugin settings
diff --git a/robot_models/HRP3HAND_L/install_robot.sh b/robot_models/HRP3HAND_L/install_robot.sh
index a9bf239d..e430cba0 100755
--- a/robot_models/HRP3HAND_L/install_robot.sh
+++ b/robot_models/HRP3HAND_L/install_robot.sh
@@ -1,3 +1,5 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_L
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_L || exit 1
+exit 0
+
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
index f040d729..da207c06 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 
 ## add Plugin settings
diff --git a/robot_models/HRP3HAND_R/install_robot.sh b/robot_models/HRP3HAND_R/install_robot.sh
index b7ef4a8b..e3e4b50c 100755
--- a/robot_models/HRP3HAND_R/install_robot.sh
+++ b/robot_models/HRP3HAND_R/install_robot.sh
@@ -1,3 +1,4 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_R
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_R || exit 1
+exit 0
diff --git a/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh b/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
index ef71fa34..17567823 100755
--- a/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
+++ b/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 # 
 # ## add Plugin settings
diff --git a/robot_models/HRP4C/install_robot.sh b/robot_models/HRP4C/install_robot.sh
index ae2bf467..96828214 100755
--- a/robot_models/HRP4C/install_robot.sh
+++ b/robot_models/HRP4C/install_robot.sh
@@ -1,3 +1,4 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP4C
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP4C || exit 1
+exit 0
diff --git a/robot_models/STARO/STARO_optional_urdf_setting.sh b/robot_models/STARO/STARO_optional_urdf_setting.sh
index e98e4d6d..5ed0b73e 100755
--- a/robot_models/STARO/STARO_optional_urdf_setting.sh
+++ b/robot_models/STARO/STARO_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 
 ## add Plugin settings
diff --git a/robot_models/STARO/install_robot.sh b/robot_models/STARO/install_robot.sh
index 0873b29a..b02904f9 100755
--- a/robot_models/STARO/install_robot.sh
+++ b/robot_models/STARO/install_robot.sh
@@ -1,3 +1,4 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh STARO $(rospack find jsk_hrpsys_ros_bridge)/models
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh STARO $(rospack find jsk_hrpsys_ros_bridge)/models || exit 1
+exit 0
diff --git a/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh b/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
index 0a6293ef..3c33477b 100755
--- a/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
+++ b/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
 OUTPUT_FILE=$1
 ## add Plugin settings
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
index c8c311d1..fd89b676 100755
--- a/robot_models/SampleRobot/install_robot.sh
+++ b/robot_models/SampleRobot/install_robot.sh
@@ -1,3 +1,4 @@
 #!/bin/bash
 
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh SampleRobot
+$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh SampleRobot || exit 1
+exit 0
diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index da498e75..24358343 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -1,5 +1,11 @@
 #!/bin/bash
 
+function error {
+    exit 1
+}
+trap error ERR
+
+
 # usage
 # ./install_robot.sh ROBOT_NAME (model directory) (output directory)
 
@@ -19,6 +25,10 @@ fi
 OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
 SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
 
+if [ ! -e ${INPUT_DIR}/${ROBOT_NAME}.dae ]; then
+    echo -e "\e[31m[WARNING] ${INPUT_DIR}/${ROBOT_NAME}.dae not found\e[m"
+    exit 0
+fi
 if [ ! -e ${OUTPUT_FILE} ]; then
 ##
     mkdir -p ${OUTPUT_DIR}/meshes

From 1ba4975f92256f5efa364246aa75136d27bde7cf Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 17:24:53 +0000
Subject: [PATCH 196/306] changed package name of hrp2jsknt-interface.l

---
 euslisp/hrp2jsknt-interface-ex.l | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/euslisp/hrp2jsknt-interface-ex.l b/euslisp/hrp2jsknt-interface-ex.l
index 57132392..c3762844 100644
--- a/euslisp/hrp2jsknt-interface-ex.l
+++ b/euslisp/hrp2jsknt-interface-ex.l
@@ -1,4 +1,4 @@
-(load "package://jsk_hrpsys_ros_bridge/euslisp/hrp2jsknt-interface.l")
+(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")
@@ -31,3 +31,8 @@
   (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

From 2db6a0f01e75236305e579ddf1b81e1f0851d24f Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 17:33:06 +0000
Subject: [PATCH 197/306] added hector_sensors_description to manifest.xml

---
 manifest.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/manifest.xml b/manifest.xml
index 40a842bd..018ffc56 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -18,4 +18,6 @@
   <depend package="collada_urdf_jsk_patch" />
 
   <depend package="hrpsys_ros_bridge_tutorials" />
+
+  <depend package="hector_sensors_description" />
 </package>

From 4a06a4de05035c246871e5197dd9a8e37f723553 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 17:34:08 +0000
Subject: [PATCH 198/306] fixed gazebo_simplebox.launch: this is a test program
 to launch drcsim gazebo and load world and model files under
 hrpsys_gazebo_tutorials.

---
 launch/gazebo_simplebox.launch | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/launch/gazebo_simplebox.launch b/launch/gazebo_simplebox.launch
index 60e3007a..950230fe 100644
--- a/launch/gazebo_simplebox.launch
+++ b/launch/gazebo_simplebox.launch
@@ -1,11 +1,8 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="SimpleBox.world"/>
-  <!-- <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/hrp2jsk.yaml" /> -->
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
-    <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD" value="$(arg WORLD)" />
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(arg HRPSYS_GAZEBO_CONFIG)" /> -->
-  </include>
+
+  <node name="gazebo" pkg="drcsim_gazebo" type="run_$(arg gzname)" args="$(arg WORLD)" output="screen" />
+
 </launch>

From 9bd94d6df8392ee1d9edd156d655bdf1708b7eb7 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 17:42:59 +0000
Subject: [PATCH 199/306] comment out loading gazebo plugin lines in
 simplebox.urdf

---
 environment_models/simple_box/model.urdf | 28 ++++++++++++------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/environment_models/simple_box/model.urdf b/environment_models/simple_box/model.urdf
index bacdc94d..5e390e59 100644
--- a/environment_models/simple_box/model.urdf
+++ b/environment_models/simple_box/model.urdf
@@ -25,18 +25,18 @@
     <mu1>2.0</mu1>
     <mu2>2.0</mu2>
   </gazebo>
-  <gazebo>
-    <plugin filename="libAddForcePlugin.so" name="simple_box_add_force_plugin" >
-      <objname>simple_box</objname>
-      <linkname>nil_link</linkname>
-    </plugin>
-    <plugin filename="libGetVelPlugin.so" name="simple_box_get_vel_plugin" >
-      <objname>simple_box</objname>
-      <linkname>nil_link</linkname>
-    </plugin>
-    <plugin filename="libSetVelPlugin.so" name="simple_box_set_vel_plugin" >
-      <objname>simple_box</objname>
-      <linkname>nil_link</linkname>
-    </plugin>
-  </gazebo>
+  <!-- <gazebo> -->
+  <!--   <plugin filename="libAddForcePlugin.so" name="simple_box_add_force_plugin" > -->
+  <!--     <objname>simple_box</objname> -->
+  <!--     <linkname>nil_link</linkname> -->
+  <!--   </plugin> -->
+  <!--   <plugin filename="libGetVelPlugin.so" name="simple_box_get_vel_plugin" > -->
+  <!--     <objname>simple_box</objname> -->
+  <!--     <linkname>nil_link</linkname> -->
+  <!--   </plugin> -->
+  <!--   <plugin filename="libSetVelPlugin.so" name="simple_box_set_vel_plugin" > -->
+  <!--     <objname>simple_box</objname> -->
+  <!--     <linkname>nil_link</linkname> -->
+  <!--   </plugin> -->
+  <!-- </gazebo> -->
 </robot>
\ No newline at end of file

From 1d8568ca9e3a97bcc3d03996b4575f871c9236ca Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 17:53:27 +0000
Subject: [PATCH 200/306] set USE_INSTANCE_NAME in the launch file

---
 launch/gazebo_hrp2jsk_no_controllers.launch     | 6 ++++--
 launch/gazebo_hrp2jsknts_no_controllers.launch  | 6 ++++--
 launch/gazebo_samplerobot_no_controllers.launch | 6 ++++--
 launch/gazebo_staro_no_controllers.launch       | 6 ++++--
 4 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/launch/gazebo_hrp2jsk_no_controllers.launch b/launch/gazebo_hrp2jsk_no_controllers.launch
index 6edd4494..922cef8a 100644
--- a/launch/gazebo_hrp2jsk_no_controllers.launch
+++ b/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -5,11 +5,13 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP2JSK" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" />
+    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" /> -->
+    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/gazebo_hrp2jsknts_no_controllers.launch b/launch/gazebo_hrp2jsknts_no_controllers.launch
index 5c1d4b6e..31d66da5 100644
--- a/launch/gazebo_hrp2jsknts_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknts_no_controllers.launch
@@ -5,11 +5,13 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
+    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" /> -->
+    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/gazebo_samplerobot_no_controllers.launch b/launch/gazebo_samplerobot_no_controllers.launch
index 18808a82..c79a3254 100644
--- a/launch/gazebo_samplerobot_no_controllers.launch
+++ b/launch/gazebo_samplerobot_no_controllers.launch
@@ -5,11 +5,13 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="SampleRobot" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
+    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" /> -->
+    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/gazebo_staro_no_controllers.launch b/launch/gazebo_staro_no_controllers.launch
index 766aec47..362e8325 100644
--- a/launch/gazebo_staro_no_controllers.launch
+++ b/launch/gazebo_staro_no_controllers.launch
@@ -5,11 +5,13 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="STARO" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/STARO.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
+    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/STARO.yaml" /> -->
+    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>

From 5df65b9f7d7f0cdfe8b332537c766b418c8b3ff6 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 18:00:50 +0000
Subject: [PATCH 201/306] set USE_INSTANCE_NAME in the launch file

---
 launch/samplerobot_hrpsys_bringup.launch | 1 +
 launch/staro_hrpsys_bringup.launch       | 1 +
 2 files changed, 2 insertions(+)

diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index f9aa22be..1161bc47 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -18,6 +18,7 @@
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="SampleRobot" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
 </launch>
diff --git a/launch/staro_hrpsys_bringup.launch b/launch/staro_hrpsys_bringup.launch
index 36077431..665c0db8 100644
--- a/launch/staro_hrpsys_bringup.launch
+++ b/launch/staro_hrpsys_bringup.launch
@@ -4,5 +4,6 @@
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="STARO" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
   </include>
 </launch>

From 466192c6f99549762d026d252265ee222a1b5cd6 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 18:09:55 +0000
Subject: [PATCH 202/306] changed function name: init -> init-hrp2jsknt-ex

---
 euslisp/hrp2jsknt-interface-ex.l | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/euslisp/hrp2jsknt-interface-ex.l b/euslisp/hrp2jsknt-interface-ex.l
index c3762844..b94211c7 100644
--- a/euslisp/hrp2jsknt-interface-ex.l
+++ b/euslisp/hrp2jsknt-interface-ex.l
@@ -4,7 +4,7 @@
 (load "package://hrpsys_gazebo_tutorials/euslisp/hand-command-publisher.l")
 (load "package://hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-with-limb-trajectory.l")
 
-(defun init
+(defun init-hrp2jsknt-ex
   (&key (real t))
   (cond
    (real
@@ -17,6 +17,9 @@
   (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))

From e589bae3f323e29678dc0670204692cfbf28008b Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Tue, 4 Feb 2014 18:10:41 +0000
Subject: [PATCH 203/306] fixed last commint: init-hrp2jsknt-ex ->
 hrp2jsknt-init-ex

---
 euslisp/hrp2jsknt-interface-ex.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/euslisp/hrp2jsknt-interface-ex.l b/euslisp/hrp2jsknt-interface-ex.l
index b94211c7..1ef7c4c3 100644
--- a/euslisp/hrp2jsknt-interface-ex.l
+++ b/euslisp/hrp2jsknt-interface-ex.l
@@ -4,7 +4,7 @@
 (load "package://hrpsys_gazebo_tutorials/euslisp/hand-command-publisher.l")
 (load "package://hrpsys_gazebo_tutorials/euslisp/hrp2jsknt-with-limb-trajectory.l")
 
-(defun init-hrp2jsknt-ex
+(defun hrp2jsknt-init-ex
   (&key (real t))
   (cond
    (real

From 1025a88fa74a2412b6d4b477478ac1b1587d0fc9 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 02:03:55 +0000
Subject: [PATCH 204/306] does not exist even if no drcsim, just return

---
 setup.sh | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/setup.sh b/setup.sh
index 392beb45..06e3670a 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,7 +1,7 @@
 if [ ! -e /usr/share/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"
-    exit 1
+    return
 fi
 
 ROS_PACKAGE_PATH_ORG=$ROS_PACKAGE_PATH
@@ -11,6 +11,7 @@ unset GAZEBO_RESOURCE_PATH
 unset GAZEBO_MASTER_URI
 unset GAZEBO_PLUGIN_PATH
 unset GAZEBO_MODEL_DATABASE_URI
+#source install/share/drcsim/setup.sh
 source /usr/share/drcsim/setup.sh
 
 ## append original package path because /opt/ros/groovy/setup.sh have been called in drcsim/setup.sh
@@ -22,7 +23,11 @@ export ROS_PACKAGE_PATH=`echo $(echo $ROS_PACKAGE_PATH | sed -e "s/:/\n/g" | awk
 pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 drcdir=`rospack find drcsim_model_resources`
-hectdir=`rosstack find hector_models`
+if [ ${ROS_DISTRO} == "groovy" ]; then
+    hectdir=`rosstack find hector_models` # for groovy
+elif [ ${ROS_DISTRO} == "hydro" ]; then
+    hectdir=`rospack find hector_models` # for hydro
+fi
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done

From b3b3f54c64d2dbd33ad2a54051a4daf5adf66de8 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 02:07:58 +0000
Subject: [PATCH 205/306] supporting hydro, use collada_urdf

---
 robot_models/install_robot_common.sh | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 24358343..416c10dd 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -32,7 +32,11 @@ fi
 if [ ! -e ${OUTPUT_FILE} ]; then
 ##
     mkdir -p ${OUTPUT_DIR}/meshes
-    rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    if [ ${ROS_DISTRO} == "groovy" ]; then
+	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    elif [ ${ROS_DISTRO} == "hydro" ]; then
+	rosrun collada_urdf collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    fi
 ## execute sed
     ${SED_SCRIPT_FILE} ${OUTPUT_FILE}
 fi

From 5c71e95471476120cd2b348e8d93df146b303335 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 02:08:20 +0000
Subject: [PATCH 206/306] catkinize hrpsys_gazebo_tutorials

---
 CMakeLists.txt |  5 +++++
 catkin.cmake   | 34 ++++++++++++++++++++++++++++++++++
 package.xml    | 12 ++++++++++++
 3 files changed, 51 insertions(+)
 create mode 100644 catkin.cmake
 create mode 100644 package.xml

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6c79c7df..c86ce59d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,3 +1,8 @@
+if(NOT USE_ROSBUILD)
+  include(catkin.cmake)
+  return()
+endif()
+
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
diff --git a/catkin.cmake b/catkin.cmake
new file mode 100644
index 00000000..3c6935d8
--- /dev/null
+++ b/catkin.cmake
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hrpsys_gazebo_tutorials)
+
+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 ${_out_dir}/install_robot.sh
+    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})
diff --git a/package.xml b/package.xml
new file mode 100644
index 00000000..85e75012
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,12 @@
+<package>
+  <name>hrpsys_gazebo_tutorials</name>
+  <version>0.1.0</version>
+  <description>hrpsys_gazebo_tutorials</description>
+  <maintainer email="youhei@jsk.t.u-tokyo.ac.jp">Yohei Kakiuchi</maintainer>
+  <license>BSD</license>
+  <author email="youhei@jsk.t.u-tokyo.ac.jp">Yohei Kakiuchi</author>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>hrpsys_ros_bridge</build_depend>
+  <build_depend>hrpsys_gazebo_general</build_depend>
+</package>
+

From 7ab52320e51108912244ae97afb30d3e87528248 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 04:43:04 +0000
Subject: [PATCH 207/306] supporting hydro

---
 setup.sh | 26 +++++++++++++++++++-------
 1 file changed, 19 insertions(+), 7 deletions(-)

diff --git a/setup.sh b/setup.sh
index 06e3670a..0cf1f53d 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,9 +1,16 @@
-if [ ! -e /usr/share/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
+if [ ${ROS_DISTRO} == "groovy" ]; then
+    if [ ! -e /usr/share/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
+elif [ ${ROS_DISTRO} == "hydro" ]; then
+    if [ ! -e `rospack find drcsim_gazebo`/../drcsim/setup.sh ]; then
+	echo -e "\e[31mdrcsim should be installed for using hrpsys_gazebo\e[m"
+	echo -e "\e[31msee http://gazebosim.org/wiki/DRC/Install\e[m"
+	return
+    fi
 fi
-
 ROS_PACKAGE_PATH_ORG=$ROS_PACKAGE_PATH
 
 unset GAZEBO_MODEL_PATH
@@ -11,8 +18,13 @@ unset GAZEBO_RESOURCE_PATH
 unset GAZEBO_MASTER_URI
 unset GAZEBO_PLUGIN_PATH
 unset GAZEBO_MODEL_DATABASE_URI
-#source install/share/drcsim/setup.sh
-source /usr/share/drcsim/setup.sh
+
+if [ ${ROS_DISTRO} == "groovy" ]; then
+    source /usr/share/drcsim/setup.sh
+elif [ ${ROS_DISTRO} == "hydro" ]; then
+    source `rospack find drcsim_gazebo`/../drcsim/setup.sh
+fi
+
 
 ## 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

From 6324205bd8bfd149eed84e5be5c7c0b6a82f48c5 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 04:43:21 +0000
Subject: [PATCH 208/306] depends to collada_tools

---
 package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/package.xml b/package.xml
index 85e75012..d85eecf1 100644
--- a/package.xml
+++ b/package.xml
@@ -8,5 +8,6 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>hrpsys_ros_bridge</build_depend>
   <build_depend>hrpsys_gazebo_general</build_depend>
+  <build_depend>collada_tools</build_depend>
 </package>
 

From 26f0f7b874785312c5e90ae5dd8b95840b28d1a0 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 04:43:48 +0000
Subject: [PATCH 209/306] catkinize the package

---
 catkin.cmake | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/catkin.cmake b/catkin.cmake
index 3c6935d8..63266fad 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -1,6 +1,14 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
+find_package(catkin REQUIRED COMPONENTS)
+catkin_package(
+    DEPENDS collada_tools
+    CATKIN-DEPENDS # euslisp TODO
+    INCLUDE_DIRS # TODO include
+    LIBRARIES # TODO
+)
+
 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")

From ba70e4ab5a84586912869c782c3c7d47fb359ed1 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 04:48:28 +0000
Subject: [PATCH 210/306] not use ROBOT_NAME as package

---
 robot_models/install_robot_common.sh | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 416c10dd..3fafeb15 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -32,11 +32,12 @@ fi
 if [ ! -e ${OUTPUT_FILE} ]; then
 ##
     mkdir -p ${OUTPUT_DIR}/meshes
-    if [ ${ROS_DISTRO} == "groovy" ]; then
-	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    elif [ ${ROS_DISTRO} == "hydro" ]; then
-	rosrun collada_urdf collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    fi
+    rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    # if [ ${ROS_DISTRO} == "groovy" ]; then
+    # 	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    # elif [ ${ROS_DISTRO} == "hydro" ]; then
+    # 	rosrun collada_urdf collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    # fi
 ## execute sed
     ${SED_SCRIPT_FILE} ${OUTPUT_FILE}
 fi

From eaec5fadfde3365acf7b50c2281aefb4b88f644f Mon Sep 17 00:00:00 2001
From: "m117120@gmail.com"
 <m117120@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 10:09:13 +0000
Subject: [PATCH 211/306] do not user robot name ros package

---
 launch/hrp2jsknt_hrpsys_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/hrp2jsknt_hrpsys_bringup.launch b/launch/hrp2jsknt_hrpsys_bringup.launch
index 211dbc98..dbc8f5e6 100644
--- a/launch/hrp2jsknt_hrpsys_bringup.launch
+++ b/launch/hrp2jsknt_hrpsys_bringup.launch
@@ -4,7 +4,7 @@
 
   <group if="$(arg LOOPBACK_MODE)">
     <param name="robot_description"
-	   textfile="$(find HRP2JSKNT)/HRP2JSKNT.urdf" />
+	   textfile="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
 
     <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
       <param name="publish_frequency" type="double" value="100.0" />

From 75cb68eeeda4912b3114a7cc77f53c46a74cb6d0 Mon Sep 17 00:00:00 2001
From: "m117120@gmail.com"
 <m117120@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 10:09:56 +0000
Subject: [PATCH 212/306] added parent directory of hrpsys_gazebo_tutorials to
 GAZEBO_MODEL_PATH in setup.sh

---
 setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index 0cf1f53d..c7df5448 100644
--- a/setup.sh
+++ b/setup.sh
@@ -45,6 +45,6 @@ if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
-    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments:${hectdir}
+    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments:${hectdir}:${tpkgdir}/..
     export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi

From 1f2fb0e600d605b40f182a91fd0512605a1913fb Mon Sep 17 00:00:00 2001
From: "m117120@gmail.com"
 <m117120@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 10:10:36 +0000
Subject: [PATCH 213/306] switch depending on ros version in install_robot.sh

---
 robot_models/install_robot_common.sh | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 3fafeb15..a2c8c09f 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -32,7 +32,11 @@ fi
 if [ ! -e ${OUTPUT_FILE} ]; then
 ##
     mkdir -p ${OUTPUT_DIR}/meshes
-    rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    if [ ${ROS_DISTRO} == "groovy" ]; then
+	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    elif [ ${ROS_DISTRO} == "hydro" ]; then
+	~/ros_catkin_ws/hydro/build/collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
+    fi
     # if [ ${ROS_DISTRO} == "groovy" ]; then
     # 	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
     # elif [ ${ROS_DISTRO} == "hydro" ]; then

From c2e59c5ea03b24e09d067100add3d6c8dabf6001 Mon Sep 17 00:00:00 2001
From: "m117120@gmail.com"
 <m117120@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 10:12:07 +0000
Subject: [PATCH 214/306] install directory such as launch, world, robot_models
 in cmake.catkin

---
 catkin.cmake | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/catkin.cmake b/catkin.cmake
index 63266fad..59adbeb9 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -9,6 +9,12 @@ catkin_package(
     LIBRARIES # TODO
 )
 
+install(PROGRAMS robot_models/install_robot_common.sh 
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
+install(FILES setup.sh
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 macro (generate_gazebo_urdf_file _robot_name)
   set(_out_dir "${PROJECT_SOURCE_DIR}/robot_models/${_robot_name}")
   set(_out_urdf_file "${_out_dir}/${_robot_name}.urdf")
@@ -27,6 +33,7 @@ macro (generate_gazebo_urdf_file _robot_name)
     configure_file(${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)
+  install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
 endmacro()
 
 generate_gazebo_urdf_file(SampleRobot)

From d3870e87e0efec515ec42d44fbc274c10ff1d0ac Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 11:55:22 +0000
Subject: [PATCH 215/306] add depends to hrpsys_ros_bridge_tutorials

---
 package.xml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index d85eecf1..802d18d4 100644
--- a/package.xml
+++ b/package.xml
@@ -6,8 +6,13 @@
   <license>BSD</license>
   <author email="youhei@jsk.t.u-tokyo.ac.jp">Yohei Kakiuchi</author>
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>hrpsys_ros_bridge</build_depend>
+
+  <build_depend>hrpsys_ros_bridge_tutorials</build_depend>
   <build_depend>hrpsys_gazebo_general</build_depend>
   <build_depend>collada_tools</build_depend>
+
+  <run_depend>hrpsys_ros_bridge_tutorials</run_depend>
+  <run_depend>hrpsys_gazebo_general</run_depend>
+
 </package>
 

From 0bf2ef5844fbd376591a4bd9482cd578b4f1a284 Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 15:33:10 +0000
Subject: [PATCH 216/306] add collada_tools to run_depend

---
 package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/package.xml b/package.xml
index 802d18d4..f23a1505 100644
--- a/package.xml
+++ b/package.xml
@@ -13,6 +13,7 @@
 
   <run_depend>hrpsys_ros_bridge_tutorials</run_depend>
   <run_depend>hrpsys_gazebo_general</run_depend>
+  <run_depend>collada_tools</run_depend>
 
 </package>
 

From d1800555c7e58a066cf2c7724ac418af51b93ad4 Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 15:33:56 +0000
Subject: [PATCH 217/306] use install_robot_common.sh to generate urdf file

---
 catkin.cmake | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 59adbeb9..c66b1850 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
-find_package(catkin REQUIRED COMPONENTS)
+find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools)
 catkin_package(
-    DEPENDS collada_tools
-    CATKIN-DEPENDS # euslisp TODO
+    DEPENDS #
+    CATKIN-DEPENDS collada_tools hrpsys_ros_bridge_tutorials
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO
 )
@@ -18,12 +18,14 @@ install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${
 macro (generate_gazebo_urdf_file _robot_name)
   set(_out_dir "${PROJECT_SOURCE_DIR}/robot_models/${_robot_name}")
   set(_out_urdf_file "${_out_dir}/${_robot_name}.urdf")
+  find_package(hrpsys_ros_bridge_tutorials)
+  find_package(hrpsys_gazebo_tutorials)
   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 ${_out_dir}/install_robot.sh
+    COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf
     DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes)
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   set(ROBOT ${_robot_name})

From 49e71ad3cb04c62d9a79b53d2b3abc767f3fe1fa Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Wed, 5 Feb 2014 15:34:28 +0000
Subject: [PATCH 218/306] use 4th aruguments to set collada_to_urdf path

---
 robot_models/install_robot_common.sh | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index a2c8c09f..de700b83 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -22,6 +22,12 @@ else
     OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
 fi
 
+if [ $# -gt 3 ]; then
+    COLLADA_TO_URDF=$4
+else
+    COLLADA_TO_URDF=`rospack find collada_to_urdf`/bin/collada_to_urdf
+fi
+
 OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
 SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
 
@@ -32,11 +38,7 @@ fi
 if [ ! -e ${OUTPUT_FILE} ]; then
 ##
     mkdir -p ${OUTPUT_DIR}/meshes
-    if [ ${ROS_DISTRO} == "groovy" ]; then
-	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    elif [ ${ROS_DISTRO} == "hydro" ]; then
-	~/ros_catkin_ws/hydro/build/collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    fi
+    ${COLLADA_TO_URDF} ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
     # if [ ${ROS_DISTRO} == "groovy" ]; then
     # 	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
     # elif [ ${ROS_DISTRO} == "hydro" ]; then

From e7e879ad5b023c8902194b7aee045f278fde4b26 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 03:05:51 +0000
Subject: [PATCH 219/306] update setup.sh to use drcsim/setup.sh

---
 setup.sh | 26 ++++++++------------------
 1 file changed, 8 insertions(+), 18 deletions(-)

diff --git a/setup.sh b/setup.sh
index c7df5448..d4dbbba4 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,16 +1,11 @@
-if [ ${ROS_DISTRO} == "groovy" ]; then
-    if [ ! -e /usr/share/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
-elif [ ${ROS_DISTRO} == "hydro" ]; then
-    if [ ! -e `rospack find drcsim_gazebo`/../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
+DRCSIM_SETUP_SH=/usr/share/drcsim/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
@@ -19,12 +14,7 @@ unset GAZEBO_MASTER_URI
 unset GAZEBO_PLUGIN_PATH
 unset GAZEBO_MODEL_DATABASE_URI
 
-if [ ${ROS_DISTRO} == "groovy" ]; then
-    source /usr/share/drcsim/setup.sh
-elif [ ${ROS_DISTRO} == "hydro" ]; then
-    source `rospack find drcsim_gazebo`/../drcsim/setup.sh
-fi
-
+source $DRCSIM_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

From fb1709403691a2125f5a34500fc83fd6b45fd737 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 04:21:28 +0000
Subject: [PATCH 220/306] not depends on drcsim now

---
 setup.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index d4dbbba4..734d4840 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,4 +1,5 @@
-DRCSIM_SETUP_SH=/usr/share/drcsim/setup.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"

From ff645d0d5a0686427f40e3e2e2241c03d1e638a1 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 06:16:19 +0000
Subject: [PATCH 221/306] remove dependency to drcsim

---
 launch/gazebo_robot_no_controllers.launch | 3 ++-
 launch/gazebo_simplebox.launch            | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index fe903ed0..ca09021b 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -25,7 +25,8 @@
   <param name="/use_sim_time" type="bool" value="true"/>
 
   <!-- start gazebo with the hrpsys_gazebo -->
-  <node name="gazebo" pkg="drcsim_gazebo" type="run_$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" />
+  <!-- <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" /> -->
+  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(arg WORLD)" output="screen" />
   </group>
 
   <group if="$(arg USE_INSTANCE_NAME)"
diff --git a/launch/gazebo_simplebox.launch b/launch/gazebo_simplebox.launch
index 950230fe..f112613b 100644
--- a/launch/gazebo_simplebox.launch
+++ b/launch/gazebo_simplebox.launch
@@ -3,6 +3,6 @@
   <arg name="WORLD" default="SimpleBox.world"/>
 
 
-  <node name="gazebo" pkg="drcsim_gazebo" type="run_$(arg gzname)" args="$(arg WORLD)" output="screen" />
+  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(arg WORLD)" output="screen" />
 
 </launch>

From 1c1293f675edcac86d16f4ae47c97fa947416439 Mon Sep 17 00:00:00 2001
From: "kei.okada" <kei.okada@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 07:34:39 +0000
Subject: [PATCH 222/306] remove <robot>/install_robot.sh, now we use
 install_robot_common.sh fixed in r6918

---
 robot_models/HRP2JSK/install_robot.sh     | 5 -----
 robot_models/HRP2JSKNT/install_robot.sh   | 5 -----
 robot_models/HRP2JSKNTS/install_robot.sh  | 4 ----
 robot_models/HRP3HAND_L/install_robot.sh  | 5 -----
 robot_models/HRP3HAND_R/install_robot.sh  | 4 ----
 robot_models/HRP4C/install_robot.sh       | 4 ----
 robot_models/STARO/install_robot.sh       | 4 ----
 robot_models/SampleRobot/install_robot.sh | 4 ----
 8 files changed, 35 deletions(-)
 delete mode 100755 robot_models/HRP2JSK/install_robot.sh
 delete mode 100755 robot_models/HRP2JSKNT/install_robot.sh
 delete mode 100755 robot_models/HRP2JSKNTS/install_robot.sh
 delete mode 100755 robot_models/HRP3HAND_L/install_robot.sh
 delete mode 100755 robot_models/HRP3HAND_R/install_robot.sh
 delete mode 100755 robot_models/HRP4C/install_robot.sh
 delete mode 100755 robot_models/STARO/install_robot.sh
 delete mode 100755 robot_models/SampleRobot/install_robot.sh

diff --git a/robot_models/HRP2JSK/install_robot.sh b/robot_models/HRP2JSK/install_robot.sh
deleted file mode 100755
index 9471aa94..00000000
--- a/robot_models/HRP2JSK/install_robot.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSK || exit 1
-exit 0
-
diff --git a/robot_models/HRP2JSKNT/install_robot.sh b/robot_models/HRP2JSKNT/install_robot.sh
deleted file mode 100755
index f2d2a7ac..00000000
--- a/robot_models/HRP2JSKNT/install_robot.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNT || exit 1
-exit 0
-
diff --git a/robot_models/HRP2JSKNTS/install_robot.sh b/robot_models/HRP2JSKNTS/install_robot.sh
deleted file mode 100755
index f9255c5c..00000000
--- a/robot_models/HRP2JSKNTS/install_robot.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP2JSKNTS || exit 1
-exit 0
diff --git a/robot_models/HRP3HAND_L/install_robot.sh b/robot_models/HRP3HAND_L/install_robot.sh
deleted file mode 100755
index e430cba0..00000000
--- a/robot_models/HRP3HAND_L/install_robot.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_L || exit 1
-exit 0
-
diff --git a/robot_models/HRP3HAND_R/install_robot.sh b/robot_models/HRP3HAND_R/install_robot.sh
deleted file mode 100755
index e3e4b50c..00000000
--- a/robot_models/HRP3HAND_R/install_robot.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP3HAND_R || exit 1
-exit 0
diff --git a/robot_models/HRP4C/install_robot.sh b/robot_models/HRP4C/install_robot.sh
deleted file mode 100755
index 96828214..00000000
--- a/robot_models/HRP4C/install_robot.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh HRP4C || exit 1
-exit 0
diff --git a/robot_models/STARO/install_robot.sh b/robot_models/STARO/install_robot.sh
deleted file mode 100755
index b02904f9..00000000
--- a/robot_models/STARO/install_robot.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh STARO $(rospack find jsk_hrpsys_ros_bridge)/models || exit 1
-exit 0
diff --git a/robot_models/SampleRobot/install_robot.sh b/robot_models/SampleRobot/install_robot.sh
deleted file mode 100755
index fd89b676..00000000
--- a/robot_models/SampleRobot/install_robot.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-
-$(rospack find hrpsys_gazebo_tutorials)/robot_models/install_robot_common.sh SampleRobot || exit 1
-exit 0

From f7c3191caf4eeb56f853a069be5c218c0a0d5d52 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 12:28:39 +0000
Subject: [PATCH 223/306] added EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 to
 the head of Makefile

---
 Makefile | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Makefile b/Makefile
index b75b928f..73f3baa0 100644
--- a/Makefile
+++ b/Makefile
@@ -1 +1,2 @@
+EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1
 include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

From 10db07c095fba1ec77d6bdbca397e908e9610347 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 12:30:20 +0000
Subject: [PATCH 224/306] fixed robot_models path in CMakeLists.txt

---
 CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c86ce59d..74bf2157 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,6 +21,7 @@ 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")
@@ -29,7 +30,7 @@ macro (generate_gazebo_urdf_file _robot_name)
   add_custom_command(OUTPUT ${_out_dir}/hrpsys
     COMMAND mkdir ${_out_dir}/hrpsys)
   add_custom_command(OUTPUT ${_out_urdf_file}
-    COMMAND ${_out_dir}/install_robot.sh
+    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})

From fadab22ef736a7118899f890fb0fe492350bde34 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 12:31:08 +0000
Subject: [PATCH 225/306] set gazebo plugin path to LD_LIBRARY_PATH instead of
 GAZEBO_PLUGIN_PATH: maybe this is gazebo bug

---
 setup.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index 734d4840..87c5efdf 100644
--- a/setup.sh
+++ b/setup.sh
@@ -37,5 +37,6 @@ if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
     export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments:${hectdir}:${tpkgdir}/..
-    export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
+    export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${pkgdir}/plugins
+    # export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi

From d82658ee02e955d1ea638c2bee47af66499d9ce1 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Thu, 6 Feb 2014 12:32:01 +0000
Subject: [PATCH 226/306] set full path of world files in launch file:
 GAZEBO_RESOURCE_PATH doesn't work.

---
 launch/gazebo_robot_no_controllers.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index ca09021b..d385ab53 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -26,7 +26,7 @@
 
   <!-- start gazebo with the hrpsys_gazebo -->
   <!-- <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" /> -->
-  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(arg WORLD)" output="screen" />
+  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
   </group>
 
   <group if="$(arg USE_INSTANCE_NAME)"

From 3c17ac32f4300c56448aa85ead52c64a7cda37b7 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 7 Feb 2014 06:11:55 +0000
Subject: [PATCH 227/306] add kinect by sed command instead of xacro:
 hector_sensors_description is unneeded.

---
 manifest.xml                                              | 2 --
 robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro               | 5 -----
 robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh | 8 +++-----
 3 files changed, 3 insertions(+), 12 deletions(-)

diff --git a/manifest.xml b/manifest.xml
index 018ffc56..40a842bd 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -18,6 +18,4 @@
   <depend package="collada_urdf_jsk_patch" />
 
   <depend package="hrpsys_ros_bridge_tutorials" />
-
-  <depend package="hector_sensors_description" />
 </package>
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
index 890609be..46818e7e 100644
--- a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
@@ -3,9 +3,4 @@
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
   <include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
-  <xacro:asus_camera name="xtion" parent="HEAD_LINK1">
-    <origin xyz="0.1120 0.0 0.1255" rpy="0 0 0"/>
-    <!-- origin is calculated from -->
-    <!-- (send (send (send *hrp2jsknt* :head_link1_lk) :worldcoords) :transformation (midcoords 0.5 (send *hrp2jsknt* :camera_l) (send *hrp2jsknt* :camera_r))) -->
-  </xacro:asus_camera>
 </robot>
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index a9862c02..5fa55d75 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -58,10 +58,8 @@ sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
 cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
 rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
 
-# delete Kinect link visual and collision
-sed -i -e '/<visual>/{N;N;N;N;N;N;N;N;N;N;N;s@<visual>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <geometry>\n        <mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>\n      </geometry>\n    </visual>\n    <collision>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <geometry>\n        <box size="0.035 0.185 0.025"/>\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
+# add Kinect plugin, link and joint without visual and collision
+sed -i -e 's@</robot>@  <joint name="xtion_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>\n    <parent link="HEAD_LINK1"/>\n    <child link="xtion_link"/>\n  </joint>\n  <link name="xtion_link">\n    <inertial>\n      <mass value="0.200"/>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>\n    </inertial>\n  </link>\n  <joint name="xtion_depth_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_depth_frame"/>\n  </joint>\n  <link name="xtion_depth_frame"/>\n  <joint name="xtion_depth_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_depth_frame"/>\n    <child link="xtion_depth_optical_frame"/>\n  </joint>\n  <link name="xtion_depth_optical_frame"/>\n  <joint name="xtion_rgb_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_rgb_frame"/>\n  </joint>\n  <link name="xtion_rgb_frame"/>\n  <joint name="xtion_rgb_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_rgb_frame"/>\n    <child link="xtion_rgb_optical_frame"/>\n  </joint>\n  <link name="xtion_rgb_optical_frame"/>\n  <gazebo reference="xtion_depth_frame">\n    <sensor name="xtion" type="depth">\n      <update_rate>20</update_rate>\n      <camera>\n        <horizontal_fov>1.09606677025</horizontal_fov>\n        <image>\n          <format>R8G8B8</format>\n          <width>640</width>\n          <height>480</height>\n        </image>\n        <clip>\n          <near>0.5</near>\n          <far>9</far>\n        </clip>\n      </camera>\n      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_camera_controller">\n        <alwaysOn>true</alwaysOn>\n        <updateRate>20</updateRate>\n        <imageTopicName>xtion/rgb/image_raw</imageTopicName>\n        <cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>\n        <depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>\n        <depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>\n        <pointCloudTopicName>xtion/depth/points</pointCloudTopicName>\n        <frameName>xtion_depth_optical_frame</frameName>\n        <distortion_k1>0.0</distortion_k1>\n        <distortion_k2>0.0</distortion_k2>\n        <distortion_k3>0.0</distortion_k3>\n        <distortion_t1>0.0</distortion_t1>\n        <distortion_t2>0.0</distortion_t2>\n      </plugin>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 
+# added end-effector virtual joints and links
 sed -i -e 's@</robot>@  <link name="RARM_EEF_PARENT" />\n  <link name="RARM_EEF_CHILD" />\n  <joint name="rarm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 0.0392 -0.1245"/>\n    <parent link="RARM_LINK6"/>\n    <child link="RARM_EEF_PARENT"/>\n  </joint>\n  <joint name="rarm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="RARM_EEF_PARENT"/>\n    <child link="RARM_EEF_CHILD"/>\n  </joint>\n  <link name="LARM_EEF_PARENT" />\n  <link name="LARM_EEF_CHILD" />\n  <joint name="larm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 -0.0392 -0.1245"/>\n    <parent link="LARM_LINK6"/>\n    <child link="LARM_EEF_PARENT"/>\n  </joint>\n  <joint name="larm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="LARM_EEF_PARENT"/>\n    <child link="LARM_EEF_CHILD"/>\n  </joint>\n</robot>@g' ${OUTPUT_FILE}
-
-
-

From 08aaee03cb43c3ee226bad85f3611e53b3c6ab26 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 7 Feb 2014 06:14:20 +0000
Subject: [PATCH 228/306] use collada_to_urdf under collada_tools in
 install_robot_common.sh

---
 robot_models/install_robot_common.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index de700b83..16edb7b0 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -25,7 +25,7 @@ fi
 if [ $# -gt 3 ]; then
     COLLADA_TO_URDF=$4
 else
-    COLLADA_TO_URDF=`rospack find collada_to_urdf`/bin/collada_to_urdf
+    COLLADA_TO_URDF=`rospack find collada_tools`/bin/collada_to_urdf
 fi
 
 OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf

From 0f9fa8128ca8a963b7f1390fbb6a45e4774703d3 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 7 Feb 2014 10:32:32 +0000
Subject: [PATCH 229/306] not install .svn dirs

---
 catkin.cmake | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index c66b1850..eaca4fe4 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -13,7 +13,8 @@ install(PROGRAMS robot_models/install_robot_common.sh
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
 install(FILES setup.sh
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN ".svn" EXCLUDE)
 
 macro (generate_gazebo_urdf_file _robot_name)
   set(_out_dir "${PROJECT_SOURCE_DIR}/robot_models/${_robot_name}")
@@ -35,7 +36,7 @@ macro (generate_gazebo_urdf_file _robot_name)
     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)
-  install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
+  install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/ PATTERN ".svn" EXCLUDE)
 endmacro()
 
 generate_gazebo_urdf_file(SampleRobot)

From 9213292ca255cb71a147020fb8171048c9b62411 Mon Sep 17 00:00:00 2001
From: "garaemon@gmail.com"
 <garaemon@gmail.com@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 7 Feb 2014 13:10:23 +0000
Subject: [PATCH 230/306] for catkin, remove rospack commands

---
 catkin.cmake                                        |  2 +-
 .../HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh    | 13 ++++++-------
 robot_models/install_robot_common.sh                |  8 +++++++-
 3 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index eaca4fe4..5a70b34a 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -26,7 +26,7 @@ macro (generate_gazebo_urdf_file _robot_name)
   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} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf
+    COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
     DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes)
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   set(ROBOT ${_robot_name})
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index 5fa55d75..ce43be13 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -6,7 +6,8 @@ function error {
 trap error ERR
 
 OUTPUT_FILE=$1
-
+ADDITIONAL_ROS_PACKAGE_PATH=$2
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
 ## add Plugin settings
 ##
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNT</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
@@ -34,26 +35,24 @@ sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -
 ## delete toe link collision
 sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
 sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
-
 # remove LARM_LINK6
 L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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 "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:)
+
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
 L_END=`expr ${L_START} + ${L_END} - 1`
 sed -i -e "${L_START},${L_END}d" ${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="1000.0"@g' ${OUTPUT_FILE}
 sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
 
+
 # generate URDF with xacro
 cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
 rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 16edb7b0..2eeee53e 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -28,6 +28,12 @@ else
     COLLADA_TO_URDF=`rospack find collada_tools`/bin/collada_to_urdf
 fi
 
+if [ $# -gt 4 ]; then
+    ADDITIONAL_ROS_PACKAGE_PATH=$5
+else
+    ADDITIONAL_ROS_PACKAGE_PATH=
+fi
+
 OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
 SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
 
@@ -45,7 +51,7 @@ if [ ! -e ${OUTPUT_FILE} ]; then
     # 	rosrun collada_urdf collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
     # fi
 ## execute sed
-    ${SED_SCRIPT_FILE} ${OUTPUT_FILE}
+    ${SED_SCRIPT_FILE} ${OUTPUT_FILE} ${ADDITIONAL_ROS_PACKAGE_PATH}
 fi
 
 if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then

From e3995a1fb602523ded9c09d92990e2b0d3844dba Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp"
 <murooka@jsk.imi.i.u-tokyo.ac.jp@0e702958-57eb-198b-d1ae-3bee12c0c899>
Date: Fri, 7 Feb 2014 14:06:49 +0000
Subject: [PATCH 231/306] Deleted including hector model

---
 robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro | 1 -
 1 file changed, 1 deletion(-)

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
index 46818e7e..597600ea 100644
--- a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
@@ -2,5 +2,4 @@
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT_only_body.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
-  <include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
 </robot>

From b81fb64efb48e14333a9659ceb69f546282d4625 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <ueda@mensa.(none)>
Date: Tue, 11 Feb 2014 23:03:35 +0900
Subject: [PATCH 232/306] fix shell script syntax

---
 setup.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/setup.sh b/setup.sh
index 87c5efdf..726fe105 100644
--- a/setup.sh
+++ b/setup.sh
@@ -26,9 +26,9 @@ export ROS_PACKAGE_PATH=`echo $(echo $ROS_PACKAGE_PATH | sed -e "s/:/\n/g" | awk
 pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 drcdir=`rospack find drcsim_model_resources`
-if [ ${ROS_DISTRO} == "groovy" ]; then
+if [ "${ROS_DISTRO}" = "groovy" ]; then
     hectdir=`rosstack find hector_models` # for groovy
-elif [ ${ROS_DISTRO} == "hydro" ]; then
+elif [ "${ROS_DISTRO}" = "hydro" ]; then
     hectdir=`rospack find hector_models` # for hydro
 fi
 

From 6b542d1ba648c99632a28696cf00feffd648b4ba Mon Sep 17 00:00:00 2001
From: garaemon <garaemon@gmail.com>
Date: Thu, 13 Feb 2014 15:00:45 +0900
Subject: [PATCH 233/306] add dependency to euscollada

---
 catkin.cmake | 4 ++--
 package.xml  | 2 ++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 5a70b34a..7148b2d6 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
-find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools)
+find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
 catkin_package(
     DEPENDS #
-    CATKIN-DEPENDS collada_tools hrpsys_ros_bridge_tutorials
+    CATKIN-DEPENDS collada_tools hrpsys_ros_bridge_tutorials euscollada
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO
 )
diff --git a/package.xml b/package.xml
index f23a1505..826336d1 100644
--- a/package.xml
+++ b/package.xml
@@ -10,7 +10,9 @@
   <build_depend>hrpsys_ros_bridge_tutorials</build_depend>
   <build_depend>hrpsys_gazebo_general</build_depend>
   <build_depend>collada_tools</build_depend>
+  <build_depend>euscollada</build_depend>
 
+  <run_depend>euscollada</run_depend>
   <run_depend>hrpsys_ros_bridge_tutorials</run_depend>
   <run_depend>hrpsys_gazebo_general</run_depend>
   <run_depend>collada_tools</run_depend>

From 8249177b4fd006c083272601c1ef29e9b1302ed0 Mon Sep 17 00:00:00 2001
From: garaemon <garaemon@gmail.com>
Date: Thu, 13 Feb 2014 20:23:04 +0900
Subject: [PATCH 234/306] adding dependency to openhrp3 and hrpsys

---
 catkin.cmake | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index 7148b2d6..b204d97c 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -2,8 +2,12 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
 find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
+find_package(PkgConfig)
+pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
+pkg_check_modules(hrpsys hrpsys-base REQUIRED)
+
 catkin_package(
-    DEPENDS #
+    DEPENDS openhrp3 hrpsys#
     CATKIN-DEPENDS collada_tools hrpsys_ros_bridge_tutorials euscollada
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO

From a57ba4c58b1a0e149b49c2359bda3e513c42f44a Mon Sep 17 00:00:00 2001
From: garaemon <garaemon@gmail.com>
Date: Thu, 13 Feb 2014 21:04:15 +0900
Subject: [PATCH 235/306] adding openhrp3, hrpsys to dependency

---
 package.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/package.xml b/package.xml
index 826336d1..11107dd8 100644
--- a/package.xml
+++ b/package.xml
@@ -10,8 +10,12 @@
   <build_depend>hrpsys_ros_bridge_tutorials</build_depend>
   <build_depend>hrpsys_gazebo_general</build_depend>
   <build_depend>collada_tools</build_depend>
+  <build_depend>openhrp3</build_depend>
+  <build_depend>hrpsys</build_depend>
   <build_depend>euscollada</build_depend>
 
+  <run_depend>openhrp3</run_depend>
+  <run_depend>hrpsys</run_depend>
   <run_depend>euscollada</run_depend>
   <run_depend>hrpsys_ros_bridge_tutorials</run_depend>
   <run_depend>hrpsys_gazebo_general</run_depend>

From 41e0f9fb3803bcb70428fdfad8e53d5ef0375dba Mon Sep 17 00:00:00 2001
From: garaemon <garaemon@gmail.com>
Date: Thu, 13 Feb 2014 21:38:07 +0900
Subject: [PATCH 236/306] remove hrpsys_ros_bridge_tutorials from
 hrpsys_gazebo_tutorials dependency

---
 catkin.cmake | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index b204d97c..6d723059 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -1,14 +1,16 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
-find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
+#find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
+find_package(catkin REQUIRED COMPONENTS collada_tools euscollada)
+
 find_package(PkgConfig)
 pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 
 catkin_package(
     DEPENDS openhrp3 hrpsys#
-    CATKIN-DEPENDS collada_tools hrpsys_ros_bridge_tutorials euscollada
+    CATKIN_DEPENDS collada_tools euscollada
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO
 )

From e2eea3d00dcb0e4a2b99281ec6d6eb9c27ec19ba Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <ueda@mensa.(none)>
Date: Fri, 14 Feb 2014 04:27:51 +0900
Subject: [PATCH 237/306] depends on hrpsys_ros_bridge

---
 catkin.cmake | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 6d723059..34c53df3 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
 #find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
-find_package(catkin REQUIRED COMPONENTS collada_tools euscollada)
+find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge)
 
 find_package(PkgConfig)
 pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
@@ -10,7 +10,7 @@ pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 
 catkin_package(
     DEPENDS openhrp3 hrpsys#
-    CATKIN_DEPENDS collada_tools euscollada
+    CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO
 )

From bed849abb62ab19a432ef018ce4d774a256a32e1 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <ueda@mensa.(none)>
Date: Fri, 14 Feb 2014 05:16:09 +0900
Subject: [PATCH 238/306] fixing dependency

---
 catkin.cmake | 4 +---
 package.xml  | 2 ++
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 34c53df3..5b62ca2a 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -25,15 +25,13 @@ install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${
 macro (generate_gazebo_urdf_file _robot_name)
   set(_out_dir "${PROJECT_SOURCE_DIR}/robot_models/${_robot_name}")
   set(_out_urdf_file "${_out_dir}/${_robot_name}.urdf")
-  find_package(hrpsys_ros_bridge_tutorials)
-  find_package(hrpsys_gazebo_tutorials)
   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} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
-    DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes)
+    DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf)
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   set(ROBOT ${_robot_name})
   string(TOLOWER ${_robot_name} _sname)
diff --git a/package.xml b/package.xml
index 11107dd8..24de9d20 100644
--- a/package.xml
+++ b/package.xml
@@ -8,6 +8,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>hrpsys_ros_bridge_tutorials</build_depend>
+  <build_depend>hrpsys_ros_bridge</build_depend>
   <build_depend>hrpsys_gazebo_general</build_depend>
   <build_depend>collada_tools</build_depend>
   <build_depend>openhrp3</build_depend>
@@ -17,6 +18,7 @@
   <run_depend>openhrp3</run_depend>
   <run_depend>hrpsys</run_depend>
   <run_depend>euscollada</run_depend>
+  <run_depend>hrpsys_ros_bridge</run_depend>
   <run_depend>hrpsys_ros_bridge_tutorials</run_depend>
   <run_depend>hrpsys_gazebo_general</run_depend>
   <run_depend>collada_tools</run_depend>

From a97921a8b63b460b76a16d57b8a8f2991e7b63b7 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 17 Feb 2014 13:24:40 +0900
Subject: [PATCH 239/306] changed name from manifest.xml to model.config

---
 robot_models/HRP2JSK/{manifest.xml => model.config}     | 0
 robot_models/HRP2JSKNT/{manifest.xml => model.config}   | 0
 robot_models/HRP2JSKNTS/{manifest.xml => model.config}  | 0
 robot_models/HRP3HAND_L/{manifest.xml => model.config}  | 0
 robot_models/HRP3HAND_R/{manifest.xml => model.config}  | 0
 robot_models/HRP4C/{manifest.xml => model.config}       | 0
 robot_models/STARO/{manifest.xml => model.config}       | 0
 robot_models/SampleRobot/{manifest.xml => model.config} | 0
 8 files changed, 0 insertions(+), 0 deletions(-)
 rename robot_models/HRP2JSK/{manifest.xml => model.config} (100%)
 rename robot_models/HRP2JSKNT/{manifest.xml => model.config} (100%)
 rename robot_models/HRP2JSKNTS/{manifest.xml => model.config} (100%)
 rename robot_models/HRP3HAND_L/{manifest.xml => model.config} (100%)
 rename robot_models/HRP3HAND_R/{manifest.xml => model.config} (100%)
 rename robot_models/HRP4C/{manifest.xml => model.config} (100%)
 rename robot_models/STARO/{manifest.xml => model.config} (100%)
 rename robot_models/SampleRobot/{manifest.xml => model.config} (100%)

diff --git a/robot_models/HRP2JSK/manifest.xml b/robot_models/HRP2JSK/model.config
similarity index 100%
rename from robot_models/HRP2JSK/manifest.xml
rename to robot_models/HRP2JSK/model.config
diff --git a/robot_models/HRP2JSKNT/manifest.xml b/robot_models/HRP2JSKNT/model.config
similarity index 100%
rename from robot_models/HRP2JSKNT/manifest.xml
rename to robot_models/HRP2JSKNT/model.config
diff --git a/robot_models/HRP2JSKNTS/manifest.xml b/robot_models/HRP2JSKNTS/model.config
similarity index 100%
rename from robot_models/HRP2JSKNTS/manifest.xml
rename to robot_models/HRP2JSKNTS/model.config
diff --git a/robot_models/HRP3HAND_L/manifest.xml b/robot_models/HRP3HAND_L/model.config
similarity index 100%
rename from robot_models/HRP3HAND_L/manifest.xml
rename to robot_models/HRP3HAND_L/model.config
diff --git a/robot_models/HRP3HAND_R/manifest.xml b/robot_models/HRP3HAND_R/model.config
similarity index 100%
rename from robot_models/HRP3HAND_R/manifest.xml
rename to robot_models/HRP3HAND_R/model.config
diff --git a/robot_models/HRP4C/manifest.xml b/robot_models/HRP4C/model.config
similarity index 100%
rename from robot_models/HRP4C/manifest.xml
rename to robot_models/HRP4C/model.config
diff --git a/robot_models/STARO/manifest.xml b/robot_models/STARO/model.config
similarity index 100%
rename from robot_models/STARO/manifest.xml
rename to robot_models/STARO/model.config
diff --git a/robot_models/SampleRobot/manifest.xml b/robot_models/SampleRobot/model.config
similarity index 100%
rename from robot_models/SampleRobot/manifest.xml
rename to robot_models/SampleRobot/model.config

From 18473594bfb2fc06ca19eea6858118382c196034 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 17 Feb 2014 13:35:41 +0900
Subject: [PATCH 240/306] remove hector_model package path in setup.sh

---
 setup.sh | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/setup.sh b/setup.sh
index 726fe105..b710a4a5 100644
--- a/setup.sh
+++ b/setup.sh
@@ -26,17 +26,12 @@ export ROS_PACKAGE_PATH=`echo $(echo $ROS_PACKAGE_PATH | sed -e "s/:/\n/g" | awk
 pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 drcdir=`rospack find drcsim_model_resources`
-if [ "${ROS_DISTRO}" = "groovy" ]; then
-    hectdir=`rosstack find hector_models` # for groovy
-elif [ "${ROS_DISTRO}" = "hydro" ]; then
-    hectdir=`rospack find hector_models` # for hydro
-fi
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
-    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments:${hectdir}:${tpkgdir}/..
+    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments:${tpkgdir}/..
     export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${pkgdir}/plugins
     # export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi

From 0081dd6adb52571f5a0dcfc48adb5d1a00a13bbd Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 17 Feb 2014 13:38:44 +0900
Subject: [PATCH 241/306] added load-ros-manifest control_msgs in
 hrp2jsknt-with-limb-trajectory.l

---
 euslisp/hrp2jsknt-with-limb-trajectory.l | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/euslisp/hrp2jsknt-with-limb-trajectory.l b/euslisp/hrp2jsknt-with-limb-trajectory.l
index ff0c3b41..c05d7836 100644
--- a/euslisp/hrp2jsknt-with-limb-trajectory.l
+++ b/euslisp/hrp2jsknt-with-limb-trajectory.l
@@ -1,3 +1,5 @@
+(ros::load-ros-manifest "control_msgs")
+
 (defmethod hrp2jsknt-interface
   (:init
    ()

From b41001b96e702b87357bc2add90b498b8fbe2815 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 18 Feb 2014 17:10:17 +0900
Subject: [PATCH 242/306]  deleted launch files for the world including
 cupboard

---
 .../gazebo_hrp2jsk_no_controllers_with_cupboard.launch | 10 ----------
 ...ebo_samplerobot_no_controllers_with_cupboard.launch | 10 ----------
 2 files changed, 20 deletions(-)
 delete mode 100644 launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
 delete mode 100644 launch/gazebo_samplerobot_no_controllers_with_cupboard.launch

diff --git a/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch b/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
deleted file mode 100644
index 3eeeb934..00000000
--- a/launch/gazebo_hrp2jsk_no_controllers_with_cupboard.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-  <arg name="gzname" default="gazebo"/>
-  <arg name="PAUSED" default="false"/>
-
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_hrp2jsk_no_controllers.launch">
-    <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD" value="HRP2JSK_cupboard.world"/>
-    <arg name="PAUSED" value="$(arg PAUSED)"/>
-  </include>
-</launch>
diff --git a/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch b/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch
deleted file mode 100644
index b5340554..00000000
--- a/launch/gazebo_samplerobot_no_controllers_with_cupboard.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-  <arg name="gzname" default="gazebo"/>
-  <arg name="PAUSED" default="false"/>
-
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_samplerobot_no_controllers.launch">
-    <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD"  value="SampleRobot_cupboard.world"/>
-    <arg name="PAUSED" value="$(arg PAUSED)"/>
-  </include>
-</launch>

From bfbf21f7bb5c95f21529581c110d7c217f63640f Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 18 Feb 2014 17:31:13 +0900
Subject: [PATCH 243/306] do not output error log if drcsim_model_resources
 does not exist

---
 setup.sh | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/setup.sh b/setup.sh
index b710a4a5..2bceee87 100644
--- a/setup.sh
+++ b/setup.sh
@@ -25,13 +25,14 @@ export ROS_PACKAGE_PATH=`echo $(echo $ROS_PACKAGE_PATH | sed -e "s/:/\n/g" | awk
 ##
 pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
-drcdir=`rospack find drcsim_model_resources`
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
-    export GAZEBO_MODEL_PATH=${tpkgdir}/robot_models:${tpkgdir}/environment_models:$GAZEBO_MODEL_PATH:${drcdir}/gazebo_models/environments:${tpkgdir}/..
+    export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${tpkgdir}/robot_models:${tpkgdir}/environment_models:${tpkgdir}/..
     export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${pkgdir}/plugins
     # export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi
+
+rospack find drcsim_model_resources > /dev/null 2>&1 && export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_APTH:`rospack find drcsim_model_resources`/gazebo_models/environments

From a0be518d0139e9b499809897ef1edfb5cebec3c5 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 18 Feb 2014 18:35:35 +0900
Subject: [PATCH 244/306] added scripts to install directory in
 hrpsys_gazebo_tutorials

---
 catkin.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index 5b62ca2a..c9226a63 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -19,7 +19,7 @@ install(PROGRAMS robot_models/install_robot_common.sh
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
 install(FILES setup.sh
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(DIRECTORY euslisp worlds launch scripts config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN ".svn" EXCLUDE)
 
 macro (generate_gazebo_urdf_file _robot_name)

From f6befe1dedaeb3876db51c9caacadeb434601f2c Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 18 Feb 2014 19:25:45 +0900
Subject: [PATCH 245/306] install script files as PROGRAMS

---
 catkin.cmake | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index c9226a63..a0261177 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -19,8 +19,11 @@ install(PROGRAMS robot_models/install_robot_common.sh
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
 install(FILES setup.sh
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY euslisp worlds launch scripts config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN ".svn" EXCLUDE)
+install(PROGRAMS scripts/gazebo scripts/gzclient scripts/gzserver scripts/eus2urdf_for_gazebo_pyscript.py scripts/generate_model_database.py scripts/make_fixed_model.py scripts/remove_all_added_models.py scripts/generate_room_world.py scripts/make_static_model.py scripts/remove_all_generated_files.py
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
+
 
 macro (generate_gazebo_urdf_file _robot_name)
   set(_out_dir "${PROJECT_SOURCE_DIR}/robot_models/${_robot_name}")

From c5339d2ebfbf3e6b64a92e0dd61c6d0bff62b17d Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 18 Feb 2014 20:27:29 +0900
Subject: [PATCH 246/306] fixed typo in hrpsys_gazebo_tutorials/setup.bash

---
 setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index 2bceee87..f239baaa 100644
--- a/setup.sh
+++ b/setup.sh
@@ -35,4 +35,4 @@ if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
     # export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi
 
-rospack find drcsim_model_resources > /dev/null 2>&1 && export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_APTH:`rospack find drcsim_model_resources`/gazebo_models/environments
+rospack find drcsim_model_resources > /dev/null 2>&1 && export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`rospack find drcsim_model_resources`/gazebo_models/environments

From 9fcebd3fad27eaa2e927fb66860346c78ad1c906 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 19 Feb 2014 02:47:21 +0900
Subject: [PATCH 247/306] added robots for auto generating world and launch
 files

---
 euslisp/hrpsys-gazebo-utils.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index b8239073..1c47a524 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -115,7 +115,7 @@
       (warn "[ERROR] room (~a) is not room the model.~%" name)
       (return-from generate-room-models))
     ;; convert room models
-    (dolist (r (list "SampleRobot" "HRP2JSK"))
+    (dolist (r (list "SampleRobot" "HRP2JSK" "HRP2JSKNT" "HRP2JSKNTS"))
       (eus2urdf-room-for-gazebo room :robot-name r
                                 :make-static t :make-fixed t :make-world-file t :make-launch-file t))
     ))

From 4f5e243c2f9a44618530019ebb06a079e66931a5 Mon Sep 17 00:00:00 2001
From: murooka <murooka@cygnus.jsk.t.u-tokyo.ac.jp>
Date: Thu, 20 Feb 2014 13:38:35 +0900
Subject: [PATCH 248/306] added pcl_rough.launch

---
 launch/pcl_rough.launch | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)
 create mode 100644 launch/pcl_rough.launch

diff --git a/launch/pcl_rough.launch b/launch/pcl_rough.launch
new file mode 100644
index 00000000..0c61d008
--- /dev/null
+++ b/launch/pcl_rough.launch
@@ -0,0 +1,21 @@
+<launch>
+  <node pkg="nodelet" type="nodelet" name="pcl_divider_nodelet_manager" args="manager"
+        output="screen" alaunch-prefix="xterm -e gdb --args" />
+  <group ns="pcl_divider_nodelet">
+      <node pkg="nodelet" type="nodelet"
+          name="voxelgrid_filterz"
+          args="load pcl/VoxelGrid /pcl_divider_nodelet_manager"
+          output="screen" clear_params="true">
+      <remap from="~input" to="/xtion/depth/points" />
+      <rosparam>
+        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
+      </rosparam>
+    </node>
+  </group>
+</launch>

From 8e6d274182727c5c76c2913b3e2ba8d25fe5bb75 Mon Sep 17 00:00:00 2001
From: murooka <murooka@cygnus.jsk.t.u-tokyo.ac.jp>
Date: Thu, 20 Feb 2014 20:58:54 +0900
Subject: [PATCH 249/306] fixed script for converting euslisp room model:
 convert euslisp room model only once for all robots

---
 euslisp/hrpsys-gazebo-utils.l | 71 ++++++++++++++++++++---------------
 1 file changed, 40 insertions(+), 31 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 1c47a524..424d24c9 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -20,9 +20,8 @@
 (defun irteus2urdf-for-gazebo
   (model
    &optional
-   (tmp-dir "/tmp")
-   ;; buf
-   name)
+   name
+   (tmp-dir "/tmp"))
   (cond
    ((not (subclassp (class model) cascaded-link))
     (format t "invalid class, not childclass of cascaded-link~%"))
@@ -48,19 +47,11 @@
      (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 make-world-file make-launch-file (robot-name "SampleRobot"))
+(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"))))
-	 (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))
-	 (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)))
-    (when make-world-file
-      ;; generate the world file
-      (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@    <!-- A robot -->@    <!-- A robot -->\\n    <include>\\n      <uri>model://~a</uri>\\n      <pose>1.0 0 0.70 0 0 0</pose>\\n    </include>@g\" ~a" robot-name world-new-file-path)))
+	 (package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials")))))
     (dolist (obj (send room :objects))
       (let* ((obj-name)
 	     (obj-cnt 0))
@@ -76,28 +67,21 @@
 	;; convert the model
 	(eus2urdf-for-gazebo obj obj-name)
 	;; make the static model
-	(when (or make-static make-world-file)
+	(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 make-world-file)
+	(when (or make-fixed world-file-path-list)
 	  (unix:system (format nil "rosrun hrpsys_gazebo_tutorials make_fixed_model.py ~a" obj-name)))
-	(when make-world-file
+	(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@    <!-- Objects -->@    <!-- Objects -->\\n    <include>\\n      <uri>model://~a_static</uri>\\n      <pose>~a ~a</pose>\\n    </include>@g\" ~a" obj-name pos-string rpy-string world-new-file-path))))
+	    (unix:system (format nil "sed -i -e \"s@    <!-- Objects -->@    <!-- Objects -->\\n    <include>\\n      <uri>model://~a_static</uri>\\n      <pose>~a ~a</pose>\\n    </include>@g\" ~a" obj-name pos-string rpy-string world-file-path))))
 	))
     ;; generate the model database file
     (unix:system (format nil "rosrun hrpsys_gazebo_tutorials generate_model_database.py"))
-    (when make-launch-file
-      ;; generate the launch file
-      (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 "(eus2urdf-room-for-gazebo (room73b2))~%")
 
@@ -110,13 +94,38 @@
       (generate-room-models (format nil "room~a" name)))
     (return-from generate-room-models))
   ;; check the model is derived from the room class
-  (let* ((room (funcall (read-from-string name))))
+  (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))
-    ;; convert room models
-    (dolist (r (list "SampleRobot" "HRP2JSK" "HRP2JSKNT" "HRP2JSKNTS"))
-      (eus2urdf-room-for-gazebo room :robot-name r
-                                :make-static t :make-fixed t :make-world-file t :make-launch-file t))
-    ))
+
+    ;; 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@    <!-- A robot -->@    <!-- A robot -->\\n    <include>\\n      <uri>model://~a</uri>\\n      <pose>1.0 0 0.73 0 0 0</pose>\\n    </include>@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\")~%")
+

From b3f27f3330e9fb92f6191d87f85d28962b48037b Mon Sep 17 00:00:00 2001
From: murooka <murooka@cygnus.jsk.t.u-tokyo.ac.jp>
Date: Thu, 20 Feb 2014 21:14:31 +0900
Subject: [PATCH 250/306] added light model to the world

---
 worlds/HRP2JSKNT.world    | 10 ++++++++++
 worlds/world_source.world | 10 ++++++++++
 2 files changed, 20 insertions(+)

diff --git a/worlds/HRP2JSKNT.world b/worlds/HRP2JSKNT.world
index ce2ed449..0a6873cf 100644
--- a/worlds/HRP2JSKNT.world
+++ b/worlds/HRP2JSKNT.world
@@ -23,6 +23,16 @@
     <include>
       <uri>model://sun</uri>
     </include>
+    <light type="directional" name="my_light">
+      <pose>0 0 30 0 0 0</pose>
+      <diffuse>.9 .9 .9 1</diffuse>
+      <specular>.1 .1 .1 1</specular>
+      <attenuation>
+	<range>20</range>
+      </attenuation>
+      <direction>0 0 -1</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
     <!-- A ground plane -->
     <include>
       <uri>model://ground_plane</uri>
diff --git a/worlds/world_source.world b/worlds/world_source.world
index a977b2b4..ead8b7ab 100644
--- a/worlds/world_source.world
+++ b/worlds/world_source.world
@@ -25,6 +25,16 @@
     <include>
       <uri>model://sun</uri>
     </include>
+    <light type="directional" name="my_light">
+      <pose>0 0 30 0 0 0</pose>
+      <diffuse>.9 .9 .9 1</diffuse>
+      <specular>.1 .1 .1 1</specular>
+      <attenuation>
+	<range>20</range>
+      </attenuation>
+      <direction>0 0 -1</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
     <!-- A ground plane -->
     <include>
       <uri>model://ground_plane</uri>

From 9587f3c6b0a2262a47873fb9943faa003ec7d404 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 21 Feb 2014 18:47:58 +0900
Subject: [PATCH 251/306] added SetVelPlugin/VelCommand interface in
 gazebo-plugin-utils.l

---
 euslisp/gazebo-plugin-utils.l | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
index 6e1fcfb7..b115e1e9 100644
--- a/euslisp/gazebo-plugin-utils.l
+++ b/euslisp/gazebo-plugin-utils.l
@@ -28,6 +28,7 @@
    (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))
@@ -100,6 +101,7 @@
    ()
    (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)))
@@ -115,6 +117,16 @@
      (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)

From ade3dbb8bd89540c0aa1e8404bcbc0aa4ae25460 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 21 Feb 2014 18:48:42 +0900
Subject: [PATCH 252/306] add full path for world file setting in
 gazebo_simplebox.launch

---
 launch/gazebo_simplebox.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/gazebo_simplebox.launch b/launch/gazebo_simplebox.launch
index f112613b..97554f88 100644
--- a/launch/gazebo_simplebox.launch
+++ b/launch/gazebo_simplebox.launch
@@ -3,6 +3,6 @@
   <arg name="WORLD" default="SimpleBox.world"/>
 
 
-  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(arg WORLD)" output="screen" />
+  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
 
 </launch>

From 74a9756df2ea53c9a7e490f6a7a548b68e6adbf0 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 21 Feb 2014 22:31:23 +0900
Subject: [PATCH 253/306] added comments to gazebo-plugin-utils.l

---
 euslisp/gazebo-plugin-utils.l | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
index b115e1e9..2dc90395 100644
--- a/euslisp/gazebo-plugin-utils.l
+++ b/euslisp/gazebo-plugin-utils.l
@@ -132,6 +132,9 @@
    (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))~%")
 
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

From be330af5dc2711a264895a50fd8fa8031ecd3f05 Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 21 Feb 2014 22:32:13 +0900
Subject: [PATCH 254/306] defmethod to hrp2jsknt-interface only when the class
 was defined.

---
 euslisp/hand-command-publisher.l | 92 +++++++++++++++++---------------
 1 file changed, 49 insertions(+), 43 deletions(-)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index 61d3d455..3564050c 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -1,43 +1,50 @@
 (ros::load-ros-manifest "hrpsys_gazebo_msgs")
 
-(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 '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)
+     )))
+;;(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
@@ -89,12 +96,11 @@
    (setq right-hand-av
 	 (concatenate float-vector (mapcar #'rad2deg (concatenate cons (send msg :position)))))
    ))
-
 ;;(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)~%")
+;;(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)))~%")
+
 
 
 

From b138fdc2a288af3440a4722c7a233cdda529181b Mon Sep 17 00:00:00 2001
From: "murooka@jsk.imi.i.u-tokyo.ac.jp" <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 22 Feb 2014 11:49:34 +0900
Subject: [PATCH 255/306] generate hand urdf model with plugin for setting and
 getting velocity and force in the optinal_setting scripts.

---
 .../HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh       | 7 +++++--
 .../HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh       | 9 +++++++--
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
index 607507e0..8359030a 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
@@ -7,9 +7,9 @@ trap error ERR
 
 OUTPUT_FILE=$1
 
-## add Plugin settings
-##
+# add Plugin settings
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_L</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
@@ -19,4 +19,7 @@ do
   sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
 
+cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`
 
+# add Plugin settings for setting and getting force and velocity
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libAddForcePlugin.so" name="HRP3HAND_L_add_force_plugin" >\n      <objname>HRP3HAND_L</objname>\n      <linkname>LARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libGetVelPlugin.so" name="HRP3HAND_L_get_vel_plugin" >\n      <objname>HRP3HAND_L</objname>\n      <linkname>LARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libSetVelPlugin.so" name="HRP3HAND_L_set_vel_plugin" >\n      <objname>HRP3HAND_L</objname>\n      <linkname>LARM_LINK6</linkname>\n    </plugin>\n  </gazebo>\n</robot>@g' `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
index da207c06..6cf8743f 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -7,9 +7,9 @@ trap error ERR
 
 OUTPUT_FILE=$1
 
-## add Plugin settings
-##
+# add Plugin settings
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_R</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
@@ -18,3 +18,8 @@ for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:`
 do
   sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
+
+cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`
+
+# add Plugin settings for setting and getting force and velocity
+sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libAddForcePlugin.so" name="HRP3HAND_R_add_force_plugin" >\n      <objname>HRP3HAND_R</objname>\n      <linkname>RARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libGetVelPlugin.so" name="HRP3HAND_R_get_vel_plugin" >\n      <objname>HRP3HAND_R</objname>\n      <linkname>RARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libSetVelPlugin.so" name="HRP3HAND_R_set_vel_plugin" >\n      <objname>HRP3HAND_R</objname>\n      <linkname>RARM_LINK6</linkname>\n    </plugin>\n  </gazebo>\n</robot>@g' `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`

From 24c6a99f32772b44d63671c8f80bfa791228cf35 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 2 Mar 2014 14:59:50 +0900
Subject: [PATCH 256/306] revert 9fc1c794e86ca23d105605092a3a6c2bdb76a59a

---
 .../HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh       | 7 ++-----
 .../HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh       | 9 ++-------
 2 files changed, 4 insertions(+), 12 deletions(-)

diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
index 8359030a..607507e0 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
@@ -7,9 +7,9 @@ trap error ERR
 
 OUTPUT_FILE=$1
 
-# add Plugin settings
+## add Plugin settings
+##
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_L</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
@@ -19,7 +19,4 @@ do
   sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
 
-cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`
 
-# add Plugin settings for setting and getting force and velocity
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libAddForcePlugin.so" name="HRP3HAND_L_add_force_plugin" >\n      <objname>HRP3HAND_L</objname>\n      <linkname>LARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libGetVelPlugin.so" name="HRP3HAND_L_get_vel_plugin" >\n      <objname>HRP3HAND_L</objname>\n      <linkname>LARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libSetVelPlugin.so" name="HRP3HAND_L_set_vel_plugin" >\n      <objname>HRP3HAND_L</objname>\n      <linkname>LARM_LINK6</linkname>\n    </plugin>\n  </gazebo>\n</robot>@g' `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
index 6cf8743f..da207c06 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -7,9 +7,9 @@ trap error ERR
 
 OUTPUT_FILE=$1
 
-# add Plugin settings
+## add Plugin settings
+##
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_R</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
@@ -18,8 +18,3 @@ for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:`
 do
   sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
-
-cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`
-
-# add Plugin settings for setting and getting force and velocity
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libAddForcePlugin.so" name="HRP3HAND_R_add_force_plugin" >\n      <objname>HRP3HAND_R</objname>\n      <linkname>RARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libGetVelPlugin.so" name="HRP3HAND_R_get_vel_plugin" >\n      <objname>HRP3HAND_R</objname>\n      <linkname>RARM_LINK6</linkname>\n    </plugin>\n    <plugin filename="libSetVelPlugin.so" name="HRP3HAND_R_set_vel_plugin" >\n      <objname>HRP3HAND_R</objname>\n      <linkname>RARM_LINK6</linkname>\n    </plugin>\n  </gazebo>\n</robot>@g' `echo ${OUTPUT_FILE} | sed "s/.urdf/_with_plugin.urdf/g"`

From d1967121918ab2cd6818fba117d6c52ef9a0815e Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 2 Mar 2014 15:02:20 +0900
Subject: [PATCH 257/306] comment out the usage output in gazebo-plugin-utils.l

---
 euslisp/gazebo-plugin-utils.l | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/euslisp/gazebo-plugin-utils.l b/euslisp/gazebo-plugin-utils.l
index 2dc90395..d54477b0 100644
--- a/euslisp/gazebo-plugin-utils.l
+++ b/euslisp/gazebo-plugin-utils.l
@@ -132,9 +132,9 @@
    (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))~%")
+;;(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))")
 
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

From e6eefc367a3127129e0aaea5d72b6678565dde40 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 2 Mar 2014 15:07:33 +0900
Subject: [PATCH 258/306] revert adding light to the world.

---
 worlds/HRP2JSKNT.world    | 10 ----------
 worlds/world_source.world | 10 ----------
 2 files changed, 20 deletions(-)

diff --git a/worlds/HRP2JSKNT.world b/worlds/HRP2JSKNT.world
index 0a6873cf..ce2ed449 100644
--- a/worlds/HRP2JSKNT.world
+++ b/worlds/HRP2JSKNT.world
@@ -23,16 +23,6 @@
     <include>
       <uri>model://sun</uri>
     </include>
-    <light type="directional" name="my_light">
-      <pose>0 0 30 0 0 0</pose>
-      <diffuse>.9 .9 .9 1</diffuse>
-      <specular>.1 .1 .1 1</specular>
-      <attenuation>
-	<range>20</range>
-      </attenuation>
-      <direction>0 0 -1</direction>
-      <cast_shadows>true</cast_shadows>
-    </light>
     <!-- A ground plane -->
     <include>
       <uri>model://ground_plane</uri>
diff --git a/worlds/world_source.world b/worlds/world_source.world
index ead8b7ab..a977b2b4 100644
--- a/worlds/world_source.world
+++ b/worlds/world_source.world
@@ -25,16 +25,6 @@
     <include>
       <uri>model://sun</uri>
     </include>
-    <light type="directional" name="my_light">
-      <pose>0 0 30 0 0 0</pose>
-      <diffuse>.9 .9 .9 1</diffuse>
-      <specular>.1 .1 .1 1</specular>
-      <attenuation>
-	<range>20</range>
-      </attenuation>
-      <direction>0 0 -1</direction>
-      <cast_shadows>true</cast_shadows>
-    </light>
     <!-- A ground plane -->
     <include>
       <uri>model://ground_plane</uri>

From 12837dac01e6fefbe6a236a1b6658dbc00ae72e6 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 2 Mar 2014 15:09:15 +0900
Subject: [PATCH 259/306] do not add urdf robot_models directories to
 ROS_PACKAGE_PATH.

---
 setup.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.sh b/setup.sh
index f239baaa..8ac6329f 100644
--- a/setup.sh
+++ b/setup.sh
@@ -27,7 +27,7 @@ pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 
 if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
-    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
+#    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
 #    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
     export GAZEBO_RESOURCE_PATH=${tpkgdir}/worlds:$GAZEBO_RESOURCE_PATH
     export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${tpkgdir}/robot_models:${tpkgdir}/environment_models:${tpkgdir}/..

From b3c0734be76fff8c4dc1243f8541d1be9b27287a Mon Sep 17 00:00:00 2001
From: YoheiKakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 19 Mar 2014 01:14:40 +0900
Subject: [PATCH 260/306] update comment and README.md

---
 robot_models/install_robot_common.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 2eeee53e..3fc041c7 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -7,7 +7,7 @@ trap error ERR
 
 
 # usage
-# ./install_robot.sh ROBOT_NAME (model directory) (output directory)
+# ./install_robot_common.sh ROBOT_NAME (model directory) (output directory) (collada_to_urdf_binary) (additional_ros_package_path)
 
 ROBOT_NAME=$1
 if [ $# -gt 1 ]; then

From af6a1b034cdd6f7013863bdc5448e0297f4a7ad3 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <garaemon@gmail.com>
Date: Fri, 21 Mar 2014 04:01:50 +0900
Subject: [PATCH 261/306] #25: make the target to genertate urdf file depend on
 dae file

---
 catkin.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index a0261177..6b407fc2 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -34,7 +34,7 @@ macro (generate_gazebo_urdf_file _robot_name)
     COMMAND mkdir ${_out_dir}/hrpsys)
   add_custom_command(OUTPUT ${_out_urdf_file}
     COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
-    DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf)
+    DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/${_robot_name}.dae)
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   set(ROBOT ${_robot_name})
   string(TOLOWER ${_robot_name} _sname)

From 1b2f54bdc1a24c666bde955838d5547d0c2f5bd2 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <garaemon@gmail.com>
Date: Tue, 25 Mar 2014 13:56:06 +0900
Subject: [PATCH 262/306] #25: depends hrpsys_gazebo_tutorials on
 hrpsys_ros_bridge_tutorials. and executes each urdf generation after
 compiling hrpsys_gazebo_tutorials by using ${compile_robots} targets

---
 catkin.cmake | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 6b407fc2..124141a0 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
 #find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
-find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge)
+find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
 
 find_package(PkgConfig)
 pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
@@ -10,7 +10,7 @@ pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 
 catkin_package(
     DEPENDS openhrp3 hrpsys#
-    CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge
+    CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO
 )
@@ -32,9 +32,12 @@ macro (generate_gazebo_urdf_file _robot_name)
     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} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
-    DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/${_robot_name}.dae)
+  message("urdf input -- ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/${_robot_name}.dae")
+  # ${compile_robots} is a global target used in compile_robot_model.cmake of hrpsys_ros_bridge.
+  # this dependency means that run install_robot_common.sh after executing all of ${compile_robots}.
+    add_custom_command(OUTPUT ${_out_urdf_file}
+      COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
+      DEPENDS ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${compile_robots})
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   set(ROBOT ${_robot_name})
   string(TOLOWER ${_robot_name} _sname)
@@ -42,7 +45,7 @@ macro (generate_gazebo_urdf_file _robot_name)
   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)
+  list(APPEND compile_urdf_robots ${_robot_name}_compile)
   install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/ PATTERN ".svn" EXCLUDE)
 endmacro()
 
@@ -56,4 +59,4 @@ generate_gazebo_urdf_file(STARO)
 generate_gazebo_urdf_file(HRP4C)
 
 
-add_custom_target(all_robots_compile ALL DEPENDS ${compile_robots})
+add_custom_target(all_robots_compile ALL DEPENDS ${compile_urdf_robots})

From 9434636e6a967390820f25e706436cb529c5fa7a Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <garaemon@gmail.com>
Date: Tue, 25 Mar 2014 19:18:56 +0900
Subject: [PATCH 263/306] #25: use hrpsys-base rather than hrpsys as the
 package name

---
 catkin.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index 124141a0..0e884490 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -9,7 +9,7 @@ pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 
 catkin_package(
-    DEPENDS openhrp3 hrpsys#
+    DEPENDS openhrp3 hrpsys-base
     CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO

From e10d51bdd297267f9390dc9d5be09f21e62ff841 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <garaemon@gmail.com>
Date: Wed, 26 Mar 2014 02:26:33 +0900
Subject: [PATCH 264/306] #25: remove dependency to hrpsys and openhrp3
 libraries from hrpsys_gazebo_tutorialsConfig.cmake

---
 catkin.cmake | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 0e884490..556e85a9 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -2,14 +2,19 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
 #find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
-find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
+find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials hrpsys)
 
+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)
 
+
+unset(hrpsys_LIBRARIES CACHE)
+unset(openhrp3_LIBRARIES CACHE)
+
 catkin_package(
-    DEPENDS openhrp3 hrpsys-base
+    DEPENDS openhrp3 hrpsys
     CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO

From 0db53194d7d3038ad8347e0a8e5114a55362114c Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Tue, 8 Apr 2014 14:59:38 +0900
Subject: [PATCH 265/306] remove unset(openhrp3_LIBRAIRES CACHE) and use
 openhrp3_INCLUDE_DIRS, https://github.com/start-jsk/rtmros_common/issues/398

---
 catkin.cmake | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 556e85a9..98060921 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -10,9 +10,6 @@ pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 
 
-unset(hrpsys_LIBRARIES CACHE)
-unset(openhrp3_LIBRARIES CACHE)
-
 catkin_package(
     DEPENDS openhrp3 hrpsys
     CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials

From e65bfed23ee9ac6cc341555e1cb4be321610ce6c Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <garaemon@gmail.com>
Date: Wed, 9 Apr 2014 14:44:37 +0900
Subject: [PATCH 266/306] remove catkin package dependency of hrpsys from
 hrpsys_gazebo_tutorials

---
 catkin.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index 98060921..b1b88fdd 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
 #find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
-find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials hrpsys)
+find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
 
 set(PKG_CONFIG_PATH ${hrpsys_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
 find_package(PkgConfig)

From 6fe0b2369188fdc71633ce3e956d7c0a4f8613c6 Mon Sep 17 00:00:00 2001
From: eisoku9618 <kuroiwa@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 9 Apr 2014 16:04:38 +0900
Subject: [PATCH 267/306] update README and rename README to README.md

---
 README    | 29 -----------------------------
 README.md |  7 +++++++
 2 files changed, 7 insertions(+), 29 deletions(-)
 delete mode 100644 README
 create mode 100644 README.md

diff --git a/README b/README
deleted file mode 100644
index 550cfcd0..00000000
--- a/README
+++ /dev/null
@@ -1,29 +0,0 @@
-## at first
-$ cd models/SampleRobot
-$ ./install_robot.sh
-
-## setup gazebo directories
-$ source $(rospack find hrpsys_gazebo_general)/setup.sh
-
-### additional information (memo) ###
-
-## Generating Robot Model and World (
-$ roscd hrpsys_gazebo_tutorials
-$ mkdir -p models/SampleRobot/meshes; cd models/SampleRobot
-$ rosrun collada_tools collada_to_urdf $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae -G -A --mesh_output_dir `pwd`/meshes --mesh_prefix 'package://SampleRobot/meshes'
-# add to urdf
-<<EOF
-  <gazebo>
-    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
-      <robotname>SampleRobot</robotname>
-      <controller>sample_robot_configuration</controller>
-    </plugin>
-  </gazebo>
-EOF
-$ touch manifext.xml
-## write worlds
-$ mkdir hrpsys; cd hrpsys
-$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.conf .
-$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.RobotHardware.conf .
-$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot.dae .
-$ ln -s  $(rospack find hrpsys_ros_bridge_tutorials)/models/SampleRobot_nosim.xml .
diff --git a/README.md b/README.md
new file mode 100644
index 00000000..22aba604
--- /dev/null
+++ b/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.

From ed58d1e6800f7013a5b95842171d95cae276f692 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Wed, 9 Apr 2014 17:45:56 +0900
Subject: [PATCH 268/306] remove DEPENDS openhrp3 hrpsys from catkin_package
 (#31)

---
 catkin.cmake | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 98060921..bff94d77 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
 #find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
-find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials hrpsys)
+find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
 
 set(PKG_CONFIG_PATH ${hrpsys_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
 find_package(PkgConfig)
@@ -11,7 +11,7 @@ pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 
 
 catkin_package(
-    DEPENDS openhrp3 hrpsys
+    DEPENDS
     CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO

From 15cab0422f02283231e5bf22e5bc9d1396e8842f Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 13 Apr 2014 02:03:44 +0900
Subject: [PATCH 269/306] set hrpsys_ros_bridge_tutorials_SOURCE_DIR by rospack
 find if it is empty

---
 catkin.cmake | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/catkin.cmake b/catkin.cmake
index bff94d77..043f1101 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -17,6 +17,10 @@ catkin_package(
     LIBRARIES # TODO
 )
 
+if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
+  set(hrpsys_ros_bridge_tutorials_SOURCE_DIR `rospack find hrpsys_ros_bridge_tutorials`)
+endif()
+
 install(PROGRAMS robot_models/install_robot_common.sh 
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
 install(FILES setup.sh

From b36267649dcce07b393217a063a5dfe31d0a6a84 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 13 Apr 2014 10:52:20 +0900
Subject: [PATCH 270/306] use execute_process instead of back quat

---
 catkin.cmake | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index 043f1101..01ac2db4 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -18,7 +18,10 @@ catkin_package(
 )
 
 if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
-  set(hrpsys_ros_bridge_tutorials_SOURCE_DIR `rospack find hrpsys_ros_bridge_tutorials`)
+  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()
 
 install(PROGRAMS robot_models/install_robot_common.sh 

From 7fb246433bffd3b9f8f41958e274b611c9f43a01 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 2 May 2014 16:00:12 +0900
Subject: [PATCH 271/306] use collada_to_urdf under collada_urdf_jsk_patch

---
 catkin.cmake                            | 9 ++++-----
 manifest.xml                            | 1 -
 package.xml                             | 5 ++---
 robot_models/install_robot_common.sh    | 2 +-
 scripts/eus2urdf_for_gazebo_pyscript.py | 2 +-
 5 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index 01ac2db4..424d07ca 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -1,8 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
-#find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge_tutorials collada_tools euscollada)
-find_package(catkin REQUIRED COMPONENTS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
+find_package(catkin REQUIRED COMPONENTS collada_urdf_jsk_patch euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
 
 set(PKG_CONFIG_PATH ${hrpsys_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
 find_package(PkgConfig)
@@ -12,7 +11,7 @@ pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 
 catkin_package(
     DEPENDS
-    CATKIN_DEPENDS collada_tools euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
+    CATKIN_DEPENDS collada_urdf_jsk_patch euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO
 )
@@ -45,8 +44,8 @@ macro (generate_gazebo_urdf_file _robot_name)
   # ${compile_robots} is a global target used in compile_robot_model.cmake of hrpsys_ros_bridge.
   # this dependency means that run install_robot_common.sh after executing all of ${compile_robots}.
     add_custom_command(OUTPUT ${_out_urdf_file}
-      COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
-      DEPENDS ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf ${compile_robots})
+      COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
+      DEPENDS ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${compile_robots})
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   set(ROBOT ${_robot_name})
   string(TOLOWER ${_robot_name} _sname)
diff --git a/manifest.xml b/manifest.xml
index 40a842bd..070640f9 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -14,7 +14,6 @@
   <!--rosdep name="gazebo" /-->
 
   <depend package="hrpsys_gazebo_general" />
-  <depend package="collada_tools" />
   <depend package="collada_urdf_jsk_patch" />
 
   <depend package="hrpsys_ros_bridge_tutorials" />
diff --git a/package.xml b/package.xml
index 24de9d20..42732c24 100644
--- a/package.xml
+++ b/package.xml
@@ -10,7 +10,7 @@
   <build_depend>hrpsys_ros_bridge_tutorials</build_depend>
   <build_depend>hrpsys_ros_bridge</build_depend>
   <build_depend>hrpsys_gazebo_general</build_depend>
-  <build_depend>collada_tools</build_depend>
+  <build_depend>collada_urdf_jsk_patch</build_depend>
   <build_depend>openhrp3</build_depend>
   <build_depend>hrpsys</build_depend>
   <build_depend>euscollada</build_depend>
@@ -21,7 +21,6 @@
   <run_depend>hrpsys_ros_bridge</run_depend>
   <run_depend>hrpsys_ros_bridge_tutorials</run_depend>
   <run_depend>hrpsys_gazebo_general</run_depend>
-  <run_depend>collada_tools</run_depend>
+  <run_depend>collada_urdf_jsk_patch</run_depend>
 
 </package>
-
diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 3fc041c7..48c63fb5 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -25,7 +25,7 @@ fi
 if [ $# -gt 3 ]; then
     COLLADA_TO_URDF=$4
 else
-    COLLADA_TO_URDF=`rospack find collada_tools`/bin/collada_to_urdf
+    COLLADA_TO_URDF=rosrun\ collada_urdf\ collada_to_urdf
 fi
 
 if [ $# -gt 4 ]; then
diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/scripts/eus2urdf_for_gazebo_pyscript.py
index 0ec4a9e5..489f96ab 100755
--- a/scripts/eus2urdf_for_gazebo_pyscript.py
+++ b/scripts/eus2urdf_for_gazebo_pyscript.py
@@ -33,7 +33,7 @@ def eus2urdf_for_gazebo_pyscript (name, collada_path, overwrite=True):
     meshes_path = urdf_dir_path + '/meshes'
     urdf_path = urdf_dir_path + '/' + 'model.urdf'
     os.mkdir(meshes_path)
-    os.system('rosrun collada_tools 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('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@<robot name=\\"inst_kinsystem\\"@<robot name=\\"%s\\"@g\" %s' % (name, urdf_path))
     os.system('sed -i -e \"1,/  <link /s/  <link /  <gazebo>\\n    <static>false<\/static>\\n  <\/gazebo>\\n  <link /\" %s' % urdf_path)

From 160466d10fd188d94b655379dfb7c98144980d1c Mon Sep 17 00:00:00 2001
From: mmurooka <masaki.murooka@gmail.com>
Date: Mon, 19 May 2014 18:39:15 +0900
Subject: [PATCH 272/306] generate hrp2jsknts urdf model with hrp3hand by xacro

---
 .../HRP2JSKNT_optional_urdf_setting.sh        | 13 ++---
 robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro |  5 ++
 .../HRP2JSKNTS_optional_urdf_setting.sh       | 53 +++++++++++++++++--
 robot_models/manifest.xml                     |  1 +
 4 files changed, 63 insertions(+), 9 deletions(-)
 create mode 100644 robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index ce43be13..b4024d21 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -28,13 +28,14 @@ sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia
 sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 
-## change foot geometry mesh -> box
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+# ## change foot geometry mesh -> box
+# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+
+# ## delete toe link collision
+# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
+# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
 
-## delete toe link collision
-sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
-sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
 # remove LARM_LINK6
 L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
new file mode 100644
index 00000000..20f3f8e3
--- /dev/null
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
@@ -0,0 +1,5 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNTS" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS_only_body.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+</robot>
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
index 9116f2d4..48039180 100755
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
@@ -6,13 +6,60 @@ function error {
 trap error ERR
 
 OUTPUT_FILE=$1
-
+ADDITIONAL_ROS_PACKAGE_PATH=$2
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
 ## add Plugin settings
 ##
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNTS</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
+## add IMU sensor (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
+## add force sensors (TODO: sensors should be added when converting from collada file)
+sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
 # overwrite mass and inertia which have invalid settings.
-sed -i -e 's@<mass value="0" />@<mass value="1" />@g' ${OUTPUT_FILE}
-sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>@g' ${OUTPUT_FILE}
+sed -i -e 's@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
+sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
+
+## change foot parameters
+sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+
+# ## change foot geometry mesh -> box
+# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
+
+# ## delete toe link collision
+# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
+# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
+
+# remove LARM_LINK6
+L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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 "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
+
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
+L_END=`expr ${L_START} + ${L_END} - 1`
+sed -i -e "${L_START},${L_END}d" ${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="1000.0"@g' ${OUTPUT_FILE}
+sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
+
+
+# generate URDF with xacro
+cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
+rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
+
+# add Kinect plugin, link and joint without visual and collision
+sed -i -e 's@</robot>@  <joint name="xtion_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>\n    <parent link="HEAD_LINK1"/>\n    <child link="xtion_link"/>\n  </joint>\n  <link name="xtion_link">\n    <inertial>\n      <mass value="0.200"/>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>\n    </inertial>\n  </link>\n  <joint name="xtion_depth_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_depth_frame"/>\n  </joint>\n  <link name="xtion_depth_frame"/>\n  <joint name="xtion_depth_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_depth_frame"/>\n    <child link="xtion_depth_optical_frame"/>\n  </joint>\n  <link name="xtion_depth_optical_frame"/>\n  <joint name="xtion_rgb_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_rgb_frame"/>\n  </joint>\n  <link name="xtion_rgb_frame"/>\n  <joint name="xtion_rgb_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_rgb_frame"/>\n    <child link="xtion_rgb_optical_frame"/>\n  </joint>\n  <link name="xtion_rgb_optical_frame"/>\n  <gazebo reference="xtion_depth_frame">\n    <sensor name="xtion" type="depth">\n      <update_rate>20</update_rate>\n      <camera>\n        <horizontal_fov>1.09606677025</horizontal_fov>\n        <image>\n          <format>R8G8B8</format>\n          <width>640</width>\n          <height>480</height>\n        </image>\n        <clip>\n          <near>0.5</near>\n          <far>9</far>\n        </clip>\n      </camera>\n      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_camera_controller">\n        <alwaysOn>true</alwaysOn>\n        <updateRate>20</updateRate>\n        <imageTopicName>xtion/rgb/image_raw</imageTopicName>\n        <cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>\n        <depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>\n        <depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>\n        <pointCloudTopicName>xtion/depth/points</pointCloudTopicName>\n        <frameName>xtion_depth_optical_frame</frameName>\n        <distortion_k1>0.0</distortion_k1>\n        <distortion_k2>0.0</distortion_k2>\n        <distortion_k3>0.0</distortion_k3>\n        <distortion_t1>0.0</distortion_t1>\n        <distortion_t2>0.0</distortion_t2>\n      </plugin>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
+# added end-effector virtual joints and links
+sed -i -e 's@</robot>@  <link name="RARM_EEF_PARENT" />\n  <link name="RARM_EEF_CHILD" />\n  <joint name="rarm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 0.0392 -0.1245"/>\n    <parent link="RARM_LINK6"/>\n    <child link="RARM_EEF_PARENT"/>\n  </joint>\n  <joint name="rarm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="RARM_EEF_PARENT"/>\n    <child link="RARM_EEF_CHILD"/>\n  </joint>\n  <link name="LARM_EEF_PARENT" />\n  <link name="LARM_EEF_CHILD" />\n  <joint name="larm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 -0.0392 -0.1245"/>\n    <parent link="LARM_LINK6"/>\n    <child link="LARM_EEF_PARENT"/>\n  </joint>\n  <joint name="larm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="LARM_EEF_PARENT"/>\n    <child link="LARM_EEF_CHILD"/>\n  </joint>\n</robot>@g' ${OUTPUT_FILE}
diff --git a/robot_models/manifest.xml b/robot_models/manifest.xml
index d857b2e2..dc170423 100644
--- a/robot_models/manifest.xml
+++ b/robot_models/manifest.xml
@@ -6,6 +6,7 @@
   <models>
     <uri>file://SampleRobot</uri>
     <uri>file://HRP2JSK</uri>
+    <uri>file://HRP2JSKNT</uri>
     <uri>file://HRP2JSKNTS</uri>
     <uri>file://STARO</uri>
   </models>

From 667339c2a53564a3be357e1b33985c46abfba10c Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 19 May 2014 20:37:22 +0900
Subject: [PATCH 273/306] add hrp2jsknts_moveit_config

---
 config/HRP2JSKNTS.yaml                        | 83 ++++++++++---------
 ...P2JSKNTS_controller_config_for_moveit.yaml | 51 ++++++++++++
 euslisp/hand-command-publisher.l              | 39 +++++++++
 euslisp/hrp2jsknt-interface-ex.l              |  3 +-
 euslisp/hrp2jsknts-interface-ex.l             | 40 +++++++++
 euslisp/hrp2jsknts-with-limb-trajectory.l     | 80 ++++++++++++++++++
 .../gazebo_hrp2jsknts_no_controllers.launch   |  5 ++
 launch/hrp2jsknts_hrpsys_bringup.launch       | 18 +++-
 8 files changed, 274 insertions(+), 45 deletions(-)
 create mode 100644 config/HRP2JSKNTS_controller_config_for_moveit.yaml
 create mode 100644 euslisp/hrp2jsknts-interface-ex.l
 create mode 100644 euslisp/hrp2jsknts-with-limb-trajectory.l

diff --git a/config/HRP2JSKNTS.yaml b/config/HRP2JSKNTS.yaml
index 92b35c75..653b9421 100644
--- a/config/HRP2JSKNTS.yaml
+++ b/config/HRP2JSKNTS.yaml
@@ -45,53 +45,54 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT7
 ## jointid:
   gains:
-    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
+    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: 350.0}
-    RLEG_JOINT3: {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: 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
-    - rfsensor 
+    - rhsensor
     - lhsensor
-    - rhsensor 
   force_torque_sensors_config:
-    lfsensor: {joint_name: 'LLEG_JOINT6', frame_id: 'LLEG_LINK6'}
-    rfsensor: {joint_name: 'RLEG_JOINT6', frame_id: 'RLEG_LINK6'}
-    lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6'}
-    rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6'}
-##
+## 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:
-    imu_sensor0: {name: 'waist_imu', link_name: 'CHEST_LINK0', frame_id: 'WAIST_LINK0'}
+  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/config/HRP2JSKNTS_controller_config_for_moveit.yaml b/config/HRP2JSKNTS_controller_config_for_moveit.yaml
new file mode 100644
index 00000000..daf1d26a
--- /dev/null
+++ b/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/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index 3564050c..c2c33707 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -39,6 +39,45 @@
      (&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)~%")
diff --git a/euslisp/hrp2jsknt-interface-ex.l b/euslisp/hrp2jsknt-interface-ex.l
index 1ef7c4c3..bc8cdf6f 100644
--- a/euslisp/hrp2jsknt-interface-ex.l
+++ b/euslisp/hrp2jsknt-interface-ex.l
@@ -17,6 +17,7 @@
   (setq *robot* *hrp2jsknt*)
   (objects (list *hrp2*))
   (send *irtviewer* :change-background #f(1 1 1)))
+
 (defun init
   (&key (real t))
   (hrp2jsknt-init-ex :real real))
@@ -34,8 +35,6 @@
   (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/euslisp/hrp2jsknts-interface-ex.l b/euslisp/hrp2jsknts-interface-ex.l
new file mode 100644
index 00000000..3de28af2
--- /dev/null
+++ b/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/euslisp/hrp2jsknts-with-limb-trajectory.l b/euslisp/hrp2jsknts-with-limb-trajectory.l
new file mode 100644
index 00000000..fc08a966
--- /dev/null
+++ b/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/launch/gazebo_hrp2jsknts_no_controllers.launch b/launch/gazebo_hrp2jsknts_no_controllers.launch
index 31d66da5..41e4e4f8 100644
--- a/launch/gazebo_hrp2jsknts_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknts_no_controllers.launch
@@ -14,4 +14,9 @@
     <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
   </include>
+
+  <rosparam command="load"
+	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+  <rosparam command="load"
+	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
 </launch>
diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
index 2f730de1..7e4f723b 100644
--- a/launch/hrp2jsknts_hrpsys_bringup.launch
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -1,9 +1,23 @@
 <launch>
+
+  <arg name="LOOPBACK_MODE" default="false"/>
+
+  <group if="$(arg LOOPBACK_MODE)">
+    <param name="robot_description"
+	   textfile="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
+
+    <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+      <param name="publish_frequency" type="double" value="100.0" />
+    </node>
+  </group>
+
   <rosparam command="load"
-            file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" />
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS_controller_config_for_moveit.yaml" />
+  <!-- <rosparam command="load" -->
+  <!--           file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" /> -->
 
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
   </include>
 </launch>

From 6df9f433578c65da59c3d06681e8de5b3beb0434 Mon Sep 17 00:00:00 2001
From: tarukosu <u_au_sky_future12@yahoo.co.jp>
Date: Tue, 20 May 2014 13:16:32 +0900
Subject: [PATCH 274/306] add script to change prismatic joint to fixed

---
 scripts/change_prismatic_joint_fixed.py | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)
 create mode 100755 scripts/change_prismatic_joint_fixed.py

diff --git a/scripts/change_prismatic_joint_fixed.py b/scripts/change_prismatic_joint_fixed.py
new file mode 100755
index 00000000..075398bd
--- /dev/null
+++ b/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()
+
+

From 412d5cb977229649c78c20fb65ff0b3256f46f7e Mon Sep 17 00:00:00 2001
From: YoheiKakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 22 May 2014 22:16:07 +0900
Subject: [PATCH 275/306] update joint damping at STARO.yaml

---
 config/STARO.yaml | 64 +++++++++++++++++++++++------------------------
 1 file changed, 32 insertions(+), 32 deletions(-)

diff --git a/config/STARO.yaml b/config/STARO.yaml
index c5f293a2..02fc0cde 100644
--- a/config/STARO.yaml
+++ b/config/STARO.yaml
@@ -42,38 +42,38 @@ hrpsys_gazebo_configuration:
     - LLEG_JOINT4
     - LLEG_JOINT5
   gains:
-    CHEST_JOINT0: {p: 300000, d:   8.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    CHEST_JOINT1: {p: 100000, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    HEAD_JOINT0:  {p:  15000, d:   0.5, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    HEAD_JOINT1:  {p:  70000, d:   1.5, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT0:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT1:  {p: 100000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT2:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT3:  {p: 150000, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT4:  {p:  20000, d:   0.4, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT5:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT6:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    LARM_JOINT7:  {p:  40000, d:   0.8, i: 0.0, i_clamp: 0.0, p_v: 200.0}
-    RLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
-    RLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
-    RLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
-    RLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
-    RLEG_JOINT5:  {p: 200000, d:   2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
-    LLEG_JOINT0:  {p: 150000, d:   2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    LLEG_JOINT1:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
-    LLEG_JOINT2:  {p: 380000, d:  15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
-    LLEG_JOINT3:  {p: 340000, d:  12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
-    LLEG_JOINT4:  {p: 280000, d:  10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
-    LLEG_JOINT5:  {p: 200000, d:   4.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
+    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

From 37d243f5fec7166f2d3fe2088e5fca64334ef374 Mon Sep 17 00:00:00 2001
From: YoheiKakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 22 May 2014 22:16:57 +0900
Subject: [PATCH 276/306] update foot damping of staro model

---
 robot_models/STARO/STARO_optional_urdf_setting.sh | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/robot_models/STARO/STARO_optional_urdf_setting.sh b/robot_models/STARO/STARO_optional_urdf_setting.sh
index 5ed0b73e..1e27b27d 100755
--- a/robot_models/STARO/STARO_optional_urdf_setting.sh
+++ b/robot_models/STARO/STARO_optional_urdf_setting.sh
@@ -12,7 +12,9 @@ OUTPUT_FILE=$1
 sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>STARO</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 ## add IMU sensor (TODO: sensors should be added when converting from collada file)
 sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+## change foot parameters
+sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 sed -i -e 's@<joint name="HEAD_JOINT0" type="fixed">@<joint name="HEAD_JOINT0" type="revolute">@g' ${OUTPUT_FILE}
-

From 8be1a2b10b008e25b985564bc2ec42bb9dc1e82a Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 23 May 2014 00:10:13 +0900
Subject: [PATCH 277/306] added drcbox urdf model

---
 .../meshes/nil_link_mesh.dae                  | 101 +++++++++++
 .../drcbox-drcbox-base-0/model.config         |  10 ++
 .../drcbox-drcbox-base-0/model.urdf           |  41 +++++
 .../meshes/nil_link_mesh.dae                  | 101 +++++++++++
 .../drcbox-drill-table-0/model.config         |  10 ++
 .../drcbox-drill-table-0/model.urdf           |  41 +++++
 .../meshes/nil_link_mesh.dae                  | 101 +++++++++++
 .../drcbox-drill-wall-0/model.config          |  10 ++
 .../drcbox-drill-wall-0/model.urdf            |  41 +++++
 .../meshes/CONNECT-LINK_link_mesh.dae         | 101 +++++++++++
 .../meshes/REEL-LINK_link_mesh.dae            | 101 +++++++++++
 .../meshes/ROOT-LINK_link_mesh.dae            | 101 +++++++++++
 .../drcbox-hose-reel-0/model.config           |  10 ++
 .../drcbox-hose-reel-0/model.urdf             | 119 ++++++++++++
 .../meshes/nil_link_mesh.dae                  | 170 ++++++++++++++++++
 .../drcbox-hose-y-joint-0/model.config        |  10 ++
 .../drcbox-hose-y-joint-0/model.urdf          |  41 +++++
 .../meshes/CRANK-ROOT-LINK_link_mesh.dae      | 101 +++++++++++
 .../meshes/VALVE-HANDLE-LINK_link_mesh.dae    | 101 +++++++++++
 .../drcbox-valve-bar-0/model.config           |  10 ++
 .../drcbox-valve-bar-0/model.urdf             |  80 +++++++++
 .../meshes/CRANK-ROOT-LINK_link_mesh.dae      | 101 +++++++++++
 .../meshes/VALVE-HANDLE-LINK_link_mesh.dae    | 101 +++++++++++
 .../drcbox-valve-large-0/model.config         |  10 ++
 .../drcbox-valve-large-0/model.urdf           |  80 +++++++++
 .../meshes/CRANK-ROOT-LINK_link_mesh.dae      | 101 +++++++++++
 .../meshes/VALVE-HANDLE-LINK_link_mesh.dae    | 101 +++++++++++
 .../drcbox-valve-small-0/model.config         |  10 ++
 .../drcbox-valve-small-0/model.urdf           |  80 +++++++++
 environment_models/drcbox/model.config        |  10 ++
 environment_models/drcbox/model.sdf           | 150 ++++++++++++++++
 environment_models/manifest.xml               |  18 +-
 32 files changed, 2160 insertions(+), 3 deletions(-)
 create mode 100644 environment_models/drcbox-drcbox-base-0/meshes/nil_link_mesh.dae
 create mode 100644 environment_models/drcbox-drcbox-base-0/model.config
 create mode 100644 environment_models/drcbox-drcbox-base-0/model.urdf
 create mode 100644 environment_models/drcbox-drill-table-0/meshes/nil_link_mesh.dae
 create mode 100644 environment_models/drcbox-drill-table-0/model.config
 create mode 100644 environment_models/drcbox-drill-table-0/model.urdf
 create mode 100644 environment_models/drcbox-drill-wall-0/meshes/nil_link_mesh.dae
 create mode 100644 environment_models/drcbox-drill-wall-0/model.config
 create mode 100644 environment_models/drcbox-drill-wall-0/model.urdf
 create mode 100644 environment_models/drcbox-hose-reel-0/meshes/CONNECT-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-hose-reel-0/meshes/REEL-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-hose-reel-0/meshes/ROOT-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-hose-reel-0/model.config
 create mode 100644 environment_models/drcbox-hose-reel-0/model.urdf
 create mode 100644 environment_models/drcbox-hose-y-joint-0/meshes/nil_link_mesh.dae
 create mode 100644 environment_models/drcbox-hose-y-joint-0/model.config
 create mode 100644 environment_models/drcbox-hose-y-joint-0/model.urdf
 create mode 100644 environment_models/drcbox-valve-bar-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-valve-bar-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-valve-bar-0/model.config
 create mode 100644 environment_models/drcbox-valve-bar-0/model.urdf
 create mode 100644 environment_models/drcbox-valve-large-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-valve-large-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-valve-large-0/model.config
 create mode 100644 environment_models/drcbox-valve-large-0/model.urdf
 create mode 100644 environment_models/drcbox-valve-small-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-valve-small-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
 create mode 100644 environment_models/drcbox-valve-small-0/model.config
 create mode 100644 environment_models/drcbox-valve-small-0/model.urdf
 create mode 100644 environment_models/drcbox/model.config
 create mode 100644 environment_models/drcbox/model.sdf

diff --git a/environment_models/drcbox-drcbox-base-0/meshes/nil_link_mesh.dae b/environment_models/drcbox-drcbox-base-0/meshes/nil_link_mesh.dae
new file mode 100644
index 00000000..a4b36cb8
--- /dev/null
+++ b/environment_models/drcbox-drcbox-base-0/meshes/nil_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__3-fx" name="m0JoinedMaterial__3">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.322266   0.082031   0.082031   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.644531   0.164062   0.164062   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__3" name="m0JoinedMaterial__3">
+      <instance_effect url="#m0JoinedMaterial__3-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="360"> 0.9 0.425 1.8 0.9 0.475 1.8 0 0.475 1.8 0 0.425 1.8 0.9 0.475 0 0.9 0.425 0 0 0.425 0 0 0.475 0 0 0.425 0 0 0.425 1.8 0 0.475 1.8 0 0.475 0 0 0.475 0 0 0.475 1.8 0.9 0.475 1.8 0.9 0.475 0 0.9 0.475 0 0.9 0.475 1.8 0.9 0.425 1.8 0.9 0.425 0 0.9 0.425 0 0.9 0.425 1.8 0 0.425 1.8 0 0.425 0 0.875 -0.45 1.8 0.925 -0.45 1.8 0.925 0.45 1.8 0.875 0.45 1.8 0.925 -0.45 0 0.875 -0.45 0 0.875 0.45 0 0.925 0.45 0 0.875 0.45 0 0.875 0.45 1.8 0.925 0.45 1.8 0.925 0.45 0 0.925 0.45 0 0.925 0.45 1.8 0.925 -0.45 1.8 0.925 -0.45 0 0.925 -0.45 0 0.925 -0.45 1.8 0.875 -0.45 1.8 0.875 -0.45 0 0.875 -0.45 0 0.875 -0.45 1.8 0.875 0.45 1.8 0.875 0.45 0 0 -0.475 0 0.9 -0.475 0 0.78 -0.475 0.495 0.9 -0.475 1.8 0.78 -0.475 1.2 0 -0.475 1.8 0.23 -0.475 1.2 0.23 -0.475 0.495 0.9 -0.475 1.8 0.9 -0.475 0 0.9 -0.425 0 0.9 -0.425 1.8 0.9 -0.425 1.8 0.9 -0.425 0 0.78 -0.425 0.495 0.78 -0.425 1.2 0 -0.425 1.8 0 -0.425 0 0.23 -0.425 0.495 0.23 -0.425 1.2 0.9 -0.425 1.8 0 -0.425 1.8 0 -0.475 1.8 0.9 -0.475 1.8 0.9 -0.475 0 0 -0.475 0 0 -0.425 0 0.9 -0.425 0 0 -0.425 1.8 0 -0.425 0 0 -0.475 0 0 -0.475 1.8 0.78 -0.425 1.2 0.78 -0.425 0.495 0.78 -0.475 0.495 0.78 -0.475 1.2 0.78 -0.475 1.2 0.23 -0.475 1.2 0.23 -0.425 1.2 0.78 -0.425 1.2 0.23 -0.475 1.2 0.23 -0.475 0.495 0.23 -0.425 0.495 0.23 -0.425 1.2 0.78 -0.425 0.495 0.23 -0.425 0.495 0.23 -0.475 0.495 0.78 -0.475 0.495 -0.025 -0.45 1.8 0.025 -0.45 1.8 0.025 0.45 1.8 -0.025 0.45 1.8 0.025 -0.45 0 -0.025 -0.45 0 -0.025 0.45 0 0.025 0.45 0 -0.025 0.45 0 -0.025 0.45 1.8 0.025 0.45 1.8 0.025 0.45 0 0.025 0.45 0 0.025 0.45 1.8 0.025 -0.45 1.8 0.025 -0.45 0 0.025 -0.45 0 0.025 -0.45 1.8 -0.025 -0.45 1.8 -0.025 -0.45 0 -0.025 -0.45 0 -0.025 -0.45 1.8 -0.025 0.45 1.8 -0.025 0.45 0 </float_array>
+          <technique_common>
+            <accessor count="120" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="360"> 0 -0 1 0 -0 1 0 -0 1 0 0 1 0 -0 -1 0 -0 -1 0 -0 -1 0 0 -1 -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 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 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 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 -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 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -1 0 -0 -1 0 -0 -1 0 -0 -1 0 0 -1 0 -0 -1 0 -0 -1 0 -0 -1 0 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 1 0 0 1 0 0 1 0 0 1 0 -0 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 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 </float_array>
+          <technique_common>
+            <accessor count="120" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="68" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44 48 49 50 48 50 55 55 53 48 50 49 51 52 50 51 52 51 53 54 52 53 55 54 53 56 57 58 58 59 56 60 61 62 60 62 63 64 60 63 62 61 65 66 62 65 67 66 65 67 65 64 67 64 63 68 69 70 70 71 68 72 73 74 74 75 72 76 77 78 78 79 76 80 81 82 82 83 80 84 85 86 86 87 84 88 89 90 90 91 88 92 93 94 94 95 92 96 97 98 98 99 96 100 101 102 102 103 100 104 105 106 106 107 104 108 109 110 110 111 108 112 113 114 114 115 112 116 117 118 118 119 116 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="nil_link" name="nil_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__3" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-drcbox-base-0/model.config b/environment_models/drcbox-drcbox-base-0/model.config
new file mode 100644
index 00000000..4cc1dd6c
--- /dev/null
+++ b/environment_models/drcbox-drcbox-base-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-drcbox-base-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-drcbox-base-0/model.urdf b/environment_models/drcbox-drcbox-base-0/model.urdf
new file mode 100644
index 00000000..9b0d569f
--- /dev/null
+++ b/environment_models/drcbox-drcbox-base-0/model.urdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot name="drcbox-drcbox-base-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-drcbox-base-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-drcbox-base-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>9.0</mu1>
+    <mu2>9.0</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox-drill-table-0/meshes/nil_link_mesh.dae b/environment_models/drcbox-drill-table-0/meshes/nil_link_mesh.dae
new file mode 100644
index 00000000..08251a9e
--- /dev/null
+++ b/environment_models/drcbox-drill-table-0/meshes/nil_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.322266   0.082031   0.082031   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.644531   0.164062   0.164062   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="72"> -0.1 -0.095 0.012 0.1 -0.095 0.012 0.1 0.095 0.012 -0.1 0.095 0.012 0.1 -0.095 0 -0.1 -0.095 0 -0.1 0.095 0 0.1 0.095 0 -0.1 0.095 0 -0.1 0.095 0.012 0.1 0.095 0.012 0.1 0.095 0 0.1 0.095 0 0.1 0.095 0.012 0.1 -0.095 0.012 0.1 -0.095 0 0.1 -0.095 0 0.1 -0.095 0.012 -0.1 -0.095 0.012 -0.1 -0.095 0 -0.1 -0.095 0 -0.1 -0.095 0.012 -0.1 0.095 0.012 -0.1 0.095 0 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="72"> 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 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="nil_link" name="nil_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-drill-table-0/model.config b/environment_models/drcbox-drill-table-0/model.config
new file mode 100644
index 00000000..2a61295c
--- /dev/null
+++ b/environment_models/drcbox-drill-table-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-drill-table-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-drill-table-0/model.urdf b/environment_models/drcbox-drill-table-0/model.urdf
new file mode 100644
index 00000000..dc054336
--- /dev/null
+++ b/environment_models/drcbox-drill-table-0/model.urdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot name="drcbox-drill-table-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-drill-table-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-drill-table-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox-drill-wall-0/meshes/nil_link_mesh.dae b/environment_models/drcbox-drill-wall-0/meshes/nil_link_mesh.dae
new file mode 100644
index 00000000..dc0d2dbe
--- /dev/null
+++ b/environment_models/drcbox-drill-wall-0/meshes/nil_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.498047   0.498047   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0.996094   0.996094   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="72"> -0.005 -0.285 0.725 0.005 -0.285 0.725 0.005 0.285 0.725 -0.005 0.285 0.725 0.005 -0.285 0 -0.005 -0.285 0 -0.005 0.285 0 0.005 0.285 0 -0.005 0.285 0 -0.005 0.285 0.725 0.005 0.285 0.725 0.005 0.285 0 0.005 0.285 0 0.005 0.285 0.725 0.005 -0.285 0.725 0.005 -0.285 0 0.005 -0.285 0 0.005 -0.285 0.725 -0.005 -0.285 0.725 -0.005 -0.285 0 -0.005 -0.285 0 -0.005 -0.285 0.725 -0.005 0.285 0.725 -0.005 0.285 0 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="72"> 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 </float_array>
+          <technique_common>
+            <accessor count="24" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="12" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="nil_link" name="nil_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-drill-wall-0/model.config b/environment_models/drcbox-drill-wall-0/model.config
new file mode 100644
index 00000000..aa56cc36
--- /dev/null
+++ b/environment_models/drcbox-drill-wall-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-drill-wall-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-drill-wall-0/model.urdf b/environment_models/drcbox-drill-wall-0/model.urdf
new file mode 100644
index 00000000..f1cc95f2
--- /dev/null
+++ b/environment_models/drcbox-drill-wall-0/model.urdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot name="drcbox-drill-wall-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-drill-wall-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-drill-wall-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox-hose-reel-0/meshes/CONNECT-LINK_link_mesh.dae b/environment_models/drcbox-hose-reel-0/meshes/CONNECT-LINK_link_mesh.dae
new file mode 100644
index 00000000..a4233d0b
--- /dev/null
+++ b/environment_models/drcbox-hose-reel-0/meshes/CONNECT-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__1-fx" name="m0JoinedMaterial__1">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__1" name="m0JoinedMaterial__1">
+      <instance_effect url="#m0JoinedMaterial__1-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="300"> 0.075 0.29 0.015 0.075 0.29 -0.025 0.07 0.29 -0.025 0.07 0.29 0.015 -0.07 0.29 0.015 -0.07 0.29 -0.025 -0.075 0.29 -0.025 -0.075 0.29 0.015 -0.07 0.29 0.015 -0.075 0.29 0.015 -0.075 0.03 0.095 -0.07 0.035 0.093462 -0.07 0.29 0.015 -0.075 0.03 0.095 0.07 0.035 0.093462 -0.07 0.035 0.093462 -0.075 0.03 0.095 0.075 0.03 0.095 0.075 0.29 0.015 0.07 0.29 0.015 0.07 0.035 0.093462 0.07 0.035 0.093462 0.075 0.03 0.095 0.075 0.29 0.015 0.075 0.03 0.095 -0.075 0.03 0.095 -0.075 0.03 -0.105 0.075 0.03 -0.105 0.075 0.03 0.095 0.075 0.03 -0.105 0.075 0.29 -0.025 0.075 0.29 0.015 -0.075 0.29 0.015 -0.075 0.29 -0.025 -0.075 0.03 -0.105 -0.075 0.03 0.095 -0.075 0.03 -0.105 -0.075 0.29 -0.025 -0.07 0.29 -0.025 -0.075 0.03 -0.105 -0.07 0.29 -0.025 -0.07 0.035 -0.103461 0.07 0.29 -0.025 0.075 0.29 -0.025 0.075 0.03 -0.105 0.07 0.035 -0.103461 0.07 0.29 -0.025 0.075 0.03 -0.105 -0.07 0.035 -0.103461 0.07 0.035 -0.103461 0.075 0.03 -0.105 -0.075 0.03 -0.105 0.07 0.29 -0.025 0.07 0.035 -0.103461 0.07 0.035 0.093462 0.07 0.29 0.015 0.07 0.035 -0.103461 -0.07 0.035 -0.103461 -0.07 0.035 0.093462 0.07 0.035 0.093462 -0.07 0.29 0.015 -0.07 0.035 0.093462 -0.07 0.035 -0.103461 -0.07 0.29 -0.025 0.0703125 0.025 -0.1 0 -0.05 -0.1 0 -0.05 -0.105 0.075 0.03 -0.105 0.0703125 0.025 0.09 0 -0.05 0.095 0 -0.05 0.09 0.075 0.03 0.095 0.075 0.03 0.095 0.075 0.03 -0.105 -0.075 0.03 -0.105 -0.075 0.03 0.095 0.075 0.03 0.095 -0.075 0.03 0.095 0 -0.05 0.095 0.075 0.03 -0.105 0 -0.05 -0.105 -0.075 0.03 -0.105 -0.075 0.03 -0.105 0 -0.05 -0.105 0 -0.05 -0.1 -0.0703125 0.025 -0.1 0 -0.05 0.09 0 -0.05 0.095 -0.075 0.03 0.095 -0.0703125 0.025 0.09 0 -0.05 0.09 -0.0703125 0.025 0.09 0.0703125 0.025 0.09 -0.0703125 0.025 0.09 -0.0703125 0.025 -0.1 0.0703125 0.025 -0.1 0.0703125 0.025 0.09 0 -0.05 -0.1 0.0703125 0.025 -0.1 -0.0703125 0.025 -0.1 </float_array>
+          <technique_common>
+            <accessor count="100" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="300"> 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0.294086 0.955779 0 0.294086 0.955779 0 0.294086 0.955779 -8.83811e-05 0.294087 0.955778 -8.83811e-05 0.294087 0.955778 -8.83811e-05 0.294087 0.955778 0 0.294007 0.955803 0 0.294007 0.955803 0 0.294007 0.955803 0 0.294007 0.955803 0 0.294087 0.955778 0 0.294087 0.955778 0 0.294087 0.955778 8.66815e-05 0.294086 0.955779 8.66815e-05 0.294086 0.955779 8.66815e-05 0.294086 0.955779 -0 -1 0 -0 -1 0 -0 -1 0 0 -1 0 1 0 0 1 0 0 1 0 0 1 0 -0 -1 0 -0 -1 0 -0 -1 0 -0 -1 0 0 0 0.294086 -0.955779 0 0.294086 -0.955779 0 0.294086 -0.955779 0.000106184 0.294084 -0.95578 0.000106184 0.294084 -0.95578 0.000106184 0.294084 -0.95578 0 0.294086 -0.955779 0 0.294086 -0.955779 0 0.294086 -0.955779 -0.000106206 0.294084 -0.95578 -0.000106206 0.294084 -0.95578 -0.000106206 0.294084 -0.95578 0 0.294181 -0.95575 0 0.294181 -0.95575 0 0.294181 -0.95575 0 0.294181 -0.95575 -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 0.729537 -0.683941 0 0.729537 -0.683941 0 0.729537 -0.683941 0 0.729537 -0.683941 4.77727e-07 0.729537 -0.683941 0 0.729537 -0.683941 0 0.729537 -0.683941 0 0.729537 -0.683941 -5.30807e-07 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 0 -1 -0 0 -1 -0.729537 -0.683941 0 -0.729537 -0.683941 0 -0.729537 -0.683941 0 -0.729537 -0.683941 5.66195e-07 -0.729537 -0.683941 0 -0.729537 -0.683941 0 -0.729537 -0.683941 0 -0.729537 -0.683941 -5.09575e-07 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 </float_array>
+          <technique_common>
+            <accessor count="100" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="48" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 11 12 13 14 15 16 14 16 17 18 19 20 21 22 23 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 50 51 48 52 53 54 54 55 52 56 57 58 58 59 56 60 61 62 62 63 60 64 65 66 64 66 67 68 64 67 68 67 71 69 70 68 71 69 68 72 73 74 74 75 72 76 77 78 79 80 81 82 83 84 82 84 85 88 82 85 85 89 88 86 87 88 89 86 88 90 91 92 93 94 95 95 96 93 97 98 99 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="CONNECT-LINK_link" name="CONNECT-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__1" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-hose-reel-0/meshes/REEL-LINK_link_mesh.dae b/environment_models/drcbox-hose-reel-0/meshes/REEL-LINK_link_mesh.dae
new file mode 100644
index 00000000..6ee8380b
--- /dev/null
+++ b/environment_models/drcbox-hose-reel-0/meshes/REEL-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__2-fx" name="m0JoinedMaterial__2">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__2" name="m0JoinedMaterial__2">
+      <instance_effect url="#m0JoinedMaterial__2-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
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+          <p>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 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 39 36 38 36 39 44 45 36 44 39 38 40 39 40 42 43 39 42 40 41 42 40 61 59 41 40 59 43 42 51 51 62 59 43 51 59 62 41 59 55 56 59 60 55 59 61 60 59 58 43 59 55 54 52 56 55 52 56 52 57 56 57 50 58 56 50 58 50 43 50 48 43 48 49 43 48 47 44 48 44 49 47 48 52 53 47 52 54 53 52 47 46 44 46 45 44 63 64 65 66 67 68 66 68 69 70 66 69 71 68 67 72 71 67 73 72 67 75 73 67 75 67 77 75 76 73 79 73 76 78 75 77 78 77 70 78 70 74 85 84 78 91 85 78 78 74 92 91 78 92 70 69 74 74 88 92 88 89 92 88 87 83 89 88 83 89 83 90 89 90 85 91 89 85 82 83 81 86 81 83 87 86 83 82 81 76 82 76 84 85 82 84 81 80 76 80 79 76 93 94 95 96 97 98 98 99 96 100 101 102 102 103 100 104 105 106 106 107 104 108 109 110 110 111 108 112 113 114 114 115 112 116 117 118 118 119 116 120 121 122 122 123 120 124 125 126 126 127 124 128 129 130 130 131 128 132 133 134 134 135 132 136 137 138 138 139 136 140 141 142 142 143 140 144 145 146 146 147 144 148 149 150 150 151 148 152 153 154 154 155 152 156 157 158 158 159 156 160 161 162 162 163 160 164 165 166 166 167 164 168 169 170 170 171 168 172 173 174 174 175 172 176 177 178 178 179 176 180 181 182 182 183 180 184 185 186 186 187 184 188 189 190 190 191 188 192 193 194 194 195 192 196 197 198 198 199 196 200 201 202 202 203 200 204 205 206 206 207 204 208 209 210 211 208 210 208 211 216 217 208 216 211 210 212 211 212 214 215 211 214 212 213 214 212 233 231 213 212 231 215 214 223 223 234 231 215 223 231 234 213 231 227 228 231 232 227 231 233 232 231 230 215 231 227 226 224 228 227 224 228 224 229 228 229 222 230 228 222 230 222 215 222 220 215 220 221 215 220 219 216 220 216 221 219 220 224 225 219 224 226 225 224 219 218 216 218 217 216 235 236 237 238 239 240 238 240 241 242 238 241 243 240 239 244 243 239 245 244 239 247 245 239 247 239 249 247 248 245 251 245 248 250 247 249 250 249 242 250 242 246 257 256 250 263 257 250 250 246 264 263 250 264 242 241 246 246 260 264 260 261 264 260 259 255 261 260 255 261 255 262 261 262 257 263 261 257 254 255 253 258 253 255 259 258 255 254 253 248 254 248 256 257 254 256 253 252 248 252 251 248 265 266 267 268 269 270 270 271 268 272 273 274 274 275 272 276 277 278 278 279 276 280 281 282 282 283 280 284 285 286 286 287 284 288 289 290 290 291 288 292 293 294 294 295 292 296 297 298 298 299 296 300 301 302 302 303 300 304 305 306 306 307 304 308 309 310 310 311 308 312 313 314 314 315 312 316 317 318 318 319 316 320 321 322 322 323 320 324 325 326 326 327 324 328 329 330 330 331 328 332 333 334 334 335 332 336 337 338 338 339 336 340 341 342 342 343 340 344 345 346 347 344 346 348 347 346 349 348 346 350 349 346 351 350 346 352 351 346 353 352 346 354 353 346 346 355 354 356 357 358 359 356 358 360 359 358 361 360 358 362 361 358 363 362 358 364 363 358 365 364 358 366 365 358 358 367 366 368 369 370 370 371 368 372 373 374 374 375 372 376 377 378 378 379 376 380 381 382 382 383 380 384 385 386 386 387 384 388 389 390 390 391 388 392 393 394 394 395 392 396 397 398 398 399 396 400 401 402 402 403 400 404 405 406 406 407 404 408 409 410 410 411 408 412 413 414 414 415 412 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="REEL-LINK_link" name="REEL-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__2" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-hose-reel-0/meshes/ROOT-LINK_link_mesh.dae b/environment_models/drcbox-hose-reel-0/meshes/ROOT-LINK_link_mesh.dae
new file mode 100644
index 00000000..e49beb73
--- /dev/null
+++ b/environment_models/drcbox-hose-reel-0/meshes/ROOT-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="108"> -0.05625 0.005 -0.095 0 0.08 -0.095 0 0.08 -0.1 -0.06 0 -0.1 -0.05625 0.005 0.095 0 0.08 0.1 0 0.08 0.095 -0.06 0 0.1 -0.06 0 0.1 -0.06 0 -0.1 0.06 0 -0.1 0.06 0 0.1 -0.06 0 0.1 0.06 0 0.1 0 0.08 0.1 -0.06 0 -0.1 0 0.08 -0.1 0.06 0 -0.1 0.06 0 -0.1 0 0.08 -0.1 0 0.08 -0.095 0.05625 0.005 -0.095 0 0.08 0.095 0 0.08 0.1 0.06 0 0.1 0.05625 0.005 0.095 0 0.08 0.095 0.05625 0.005 0.095 -0.05625 0.005 0.095 0.05625 0.005 0.095 0.05625 0.005 -0.095 -0.05625 0.005 -0.095 -0.05625 0.005 0.095 0 0.08 -0.095 -0.05625 0.005 -0.095 0.05625 0.005 -0.095 </float_array>
+          <technique_common>
+            <accessor count="36" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="108"> -0.8 0.6 0 -0.8 0.6 0 -0.8 0.6 0 -0.8 0.6 -5.82077e-08 -0.8 0.6 0 -0.8 0.6 0 -0.8 0.6 0 -0.8 0.6 0 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 0 -1 0 0 -1 0.8 0.6 0 0.8 0.6 0 0.8 0.6 0 0.8 0.6 0 0.8 0.6 -0 0.8 0.6 -0 0.8 0.6 -0 0.8 0.6 6.20882e-08 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 </float_array>
+          <technique_common>
+            <accessor count="36" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="20" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 1 2 0 2 3 4 0 3 4 3 7 5 6 4 7 5 4 8 9 10 10 11 8 12 13 14 15 16 17 18 19 20 18 20 21 24 18 21 21 25 24 22 23 24 25 22 24 26 27 28 29 30 31 31 32 29 33 34 35 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="ROOT-LINK_link" name="ROOT-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-hose-reel-0/model.config b/environment_models/drcbox-hose-reel-0/model.config
new file mode 100644
index 00000000..1f7ec1d1
--- /dev/null
+++ b/environment_models/drcbox-hose-reel-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-hose-reel-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-hose-reel-0/model.urdf b/environment_models/drcbox-hose-reel-0/model.urdf
new file mode 100644
index 00000000..803b5e57
--- /dev/null
+++ b/environment_models/drcbox-hose-reel-0/model.urdf
@@ -0,0 +1,119 @@
+<?xml version="1.0"?>
+<robot name="drcbox-hose-reel-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="ROOT-LINK_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-reel-0/meshes/ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-reel-0/meshes/ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="ROOT-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="CONNECT-LINK_link">
+    <visual>
+      <origin xyz="0 0.05 0.005" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-reel-0/meshes/CONNECT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0.05 0.005" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-reel-0/meshes/CONNECT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="CONNECT-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="REEL-LINK_link">
+    <visual>
+      <origin xyz="0 0.4 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-reel-0/meshes/REEL-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0.4 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-reel-0/meshes/REEL-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="REEL-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <joint name="ROOT-JOINT" type="revolute">
+    <parent link="ROOT-LINK_link"/>
+    <child  link="CONNECT-LINK_link"/>
+    <origin xyz="0 0.05 0.005" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 1"/>
+    <limit lower="-1" upper="1" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="ROOT-JOINT_trans" >
+    <actuator name="ROOT-JOINT_motor" />
+    <joint name="ROOT-JOINT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="ROOT-JOINT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+  <joint name="REEL-JOINT" type="revolute">
+    <parent link="CONNECT-LINK_link"/>
+    <child  link="REEL-LINK_link"/>
+    <origin xyz="0 0.4 0" rpy="0 -0 0 "/>
+    <axis   xyz="1 0 0"/>
+    <limit lower="-62.8319" upper="62.8319" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="REEL-JOINT_trans" >
+    <actuator name="REEL-JOINT_motor" />
+    <joint name="REEL-JOINT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="REEL-JOINT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox-hose-y-joint-0/meshes/nil_link_mesh.dae b/environment_models/drcbox-hose-y-joint-0/meshes/nil_link_mesh.dae
new file mode 100644
index 00000000..a4f9d0e0
--- /dev/null
+++ b/environment_models/drcbox-hose-y-joint-0/meshes/nil_link_mesh.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__2-fx" name="m0JoinedMaterial__2">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="m1JoinedMaterial__5-fx" name="m1JoinedMaterial__5">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.248047   0.248047   0.248047   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.496094   0.496094   0.496094   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__2" name="m0JoinedMaterial__2">
+      <instance_effect url="#m0JoinedMaterial__2-fx"/>
+    </material>
+    <material id="m1JoinedMaterial__5" name="m1JoinedMaterial__5">
+      <instance_effect url="#m1JoinedMaterial__5-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
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+          <technique_common>
+            <accessor count="310" offset="0" source="#meshId1-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId1-vertices">
+          <input semantic="POSITION" source="#meshId1-positions" />
+          <input semantic="NORMAL" source="#meshId1-normals" />
+        </vertices>
+        <polylist count="132" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId1-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 1 2 3 0 2 4 3 2 5 6 7 11 12 7 8 9 10 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 57 58 55 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 85 86 83 87 88 89 89 90 87 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 117 118 115 119 120 121 122 123 124 125 126 127 128 129 130 134 135 130 136 134 130 137 136 130 131 132 133 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 176 177 174 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 204 205 202 206 207 208 208 209 206 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 236 237 234 238 239 240 241 238 240 242 241 240 243 242 240 244 243 240 245 244 240 246 245 240 247 246 240 248 247 240 240 249 248 250 251 252 253 250 252 254 253 252 255 254 252 256 255 252 257 256 252 258 257 252 259 258 252 260 259 252 252 261 260 262 263 264 264 265 262 266 267 268 268 269 266 270 271 272 272 273 270 274 275 276 276 277 274 278 279 280 280 281 278 282 283 284 284 285 282 286 287 288 288 289 286 290 291 292 292 293 290 294 295 296 296 297 294 298 299 300 300 301 298 302 303 304 304 305 302 306 307 308 308 309 306 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="nil_link" name="nil_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__2" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+          <instance_geometry url="#meshId1">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m1JoinedMaterial__5" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-hose-y-joint-0/model.config b/environment_models/drcbox-hose-y-joint-0/model.config
new file mode 100644
index 00000000..c62643e0
--- /dev/null
+++ b/environment_models/drcbox-hose-y-joint-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-hose-y-joint-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-hose-y-joint-0/model.urdf b/environment_models/drcbox-hose-y-joint-0/model.urdf
new file mode 100644
index 00000000..1184440f
--- /dev/null
+++ b/environment_models/drcbox-hose-y-joint-0/model.urdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot name="drcbox-hose-y-joint-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-y-joint-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-hose-y-joint-0/meshes/nil_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox-valve-bar-0/meshes/CRANK-ROOT-LINK_link_mesh.dae b/environment_models/drcbox-valve-bar-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
new file mode 100644
index 00000000..54bf9f37
--- /dev/null
+++ b/environment_models/drcbox-valve-bar-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__1-fx" name="m0JoinedMaterial__1">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__1" name="m0JoinedMaterial__1">
+      <instance_effect url="#m0JoinedMaterial__1-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
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diff --git a/environment_models/drcbox-valve-bar-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae b/environment_models/drcbox-valve-bar-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
new file mode 100644
index 00000000..70080ba5
--- /dev/null
+++ b/environment_models/drcbox-valve-bar-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__1-fx" name="m0JoinedMaterial__1">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.199219   0.199219   0.199219   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.398438   0.398438   0.398438   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__1" name="m0JoinedMaterial__1">
+      <instance_effect url="#m0JoinedMaterial__1-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
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+          <technique_common>
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+              <param name="Y" type="float" />
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+        </source>
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+          <technique_common>
+            <accessor count="192" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="120" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 1 2 3 0 2 4 3 2 5 4 2 6 5 2 7 6 2 8 7 2 9 8 2 10 9 2 11 10 2 12 11 2 13 12 2 14 13 2 2 15 14 16 17 18 19 16 18 20 19 18 21 20 18 22 21 18 23 22 18 24 23 18 25 24 18 26 25 18 27 26 18 28 27 18 29 28 18 30 29 18 18 31 30 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44 48 49 50 50 51 48 52 53 54 54 55 52 56 57 58 58 59 56 60 61 62 62 63 60 64 65 66 66 67 64 68 69 70 70 71 68 72 73 74 74 75 72 76 77 78 78 79 76 80 81 82 82 83 80 84 85 86 86 87 84 88 89 90 90 91 88 92 93 94 94 95 92 96 97 98 99 96 98 100 99 98 101 100 98 102 101 98 103 102 98 104 103 98 105 104 98 106 105 98 107 106 98 108 107 98 109 108 98 110 109 98 98 111 110 112 113 114 115 112 114 116 115 114 117 116 114 118 117 114 119 118 114 120 119 114 121 120 114 122 121 114 123 122 114 124 123 114 125 124 114 126 125 114 114 127 126 128 129 130 130 131 128 132 133 134 134 135 132 136 137 138 138 139 136 140 141 142 142 143 140 144 145 146 146 147 144 148 149 150 150 151 148 152 153 154 154 155 152 156 157 158 158 159 156 160 161 162 162 163 160 164 165 166 166 167 164 168 169 170 170 171 168 172 173 174 174 175 172 176 177 178 178 179 176 180 181 182 182 183 180 184 185 186 186 187 184 188 189 190 190 191 188 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="VALVE-HANDLE-LINK_link" name="VALVE-HANDLE-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__1" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-valve-bar-0/model.config b/environment_models/drcbox-valve-bar-0/model.config
new file mode 100644
index 00000000..e90fa931
--- /dev/null
+++ b/environment_models/drcbox-valve-bar-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-valve-bar-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-valve-bar-0/model.urdf b/environment_models/drcbox-valve-bar-0/model.urdf
new file mode 100644
index 00000000..e71ad5fc
--- /dev/null
+++ b/environment_models/drcbox-valve-bar-0/model.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<robot name="drcbox-valve-bar-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="CRANK-ROOT-LINK_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-bar-0/meshes/CRANK-ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-bar-0/meshes/CRANK-ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="CRANK-ROOT-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="VALVE-HANDLE-LINK_link">
+    <visual>
+      <origin xyz="1.13687e-16 0 0.353" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-bar-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="1.13687e-16 0 0.353" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-bar-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="VALVE-HANDLE-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <joint name="CRANK-JOINT" type="revolute">
+    <parent link="CRANK-ROOT-LINK_link"/>
+    <child  link="VALVE-HANDLE-LINK_link"/>
+    <origin xyz="1.13687e-16 0 0.353" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 1"/>
+    <limit lower="-62.8319" upper="62.8319" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="CRANK-JOINT_trans" >
+    <actuator name="CRANK-JOINT_motor" />
+    <joint name="CRANK-JOINT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="CRANK-JOINT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox-valve-large-0/meshes/CRANK-ROOT-LINK_link_mesh.dae b/environment_models/drcbox-valve-large-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
new file mode 100644
index 00000000..f4064fbe
--- /dev/null
+++ b/environment_models/drcbox-valve-large-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
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+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
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+          <technique_common>
+            <accessor count="296" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="170" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="CRANK-ROOT-LINK_link" name="CRANK-ROOT-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__1" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-valve-large-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae b/environment_models/drcbox-valve-large-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
new file mode 100644
index 00000000..5118b9ff
--- /dev/null
+++ b/environment_models/drcbox-valve-large-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__2-fx" name="m0JoinedMaterial__2">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.398438   0.398438   0.398438   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.796875   0.796875   0.796875   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__2" name="m0JoinedMaterial__2">
+      <instance_effect url="#m0JoinedMaterial__2-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
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-0.19141 0.962647 0.191486 -0.191424 0.962647 0.191486 -0.191424 0.962647 0.191486 -0.191424 </float_array>
+          <technique_common>
+            <accessor count="1520" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="536" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 248 249 246 250 251 252 252 253 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975 976 977 978 979 980 981 982 983 984 984 985 982 986 987 988 988 989 986 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1004 1005 1002 1006 1007 1008 1008 1009 1006 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1024 1025 1022 1026 1027 1028 1028 1029 1026 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1044 1045 1042 1046 1047 1048 1048 1049 1046 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1064 1065 1062 1066 1067 1068 1068 1069 1066 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1084 1085 1082 1086 1087 1088 1088 1089 1086 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1104 1105 1102 1106 1107 1108 1108 1109 1106 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1124 1125 1122 1126 1127 1128 1128 1129 1126 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="VALVE-HANDLE-LINK_link" name="VALVE-HANDLE-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__2" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-valve-large-0/model.config b/environment_models/drcbox-valve-large-0/model.config
new file mode 100644
index 00000000..0105d76d
--- /dev/null
+++ b/environment_models/drcbox-valve-large-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-valve-large-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-valve-large-0/model.urdf b/environment_models/drcbox-valve-large-0/model.urdf
new file mode 100644
index 00000000..5abf82da
--- /dev/null
+++ b/environment_models/drcbox-valve-large-0/model.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<robot name="drcbox-valve-large-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="CRANK-ROOT-LINK_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-large-0/meshes/CRANK-ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-large-0/meshes/CRANK-ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="CRANK-ROOT-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="VALVE-HANDLE-LINK_link">
+    <visual>
+      <origin xyz="0 0 0.353" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-large-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.353" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-large-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="VALVE-HANDLE-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <joint name="CRANK-JOINT" type="revolute">
+    <parent link="CRANK-ROOT-LINK_link"/>
+    <child  link="VALVE-HANDLE-LINK_link"/>
+    <origin xyz="0 0 0.353" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 1"/>
+    <limit lower="-62.8319" upper="62.8319" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="CRANK-JOINT_trans" >
+    <actuator name="CRANK-JOINT_motor" />
+    <joint name="CRANK-JOINT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="CRANK-JOINT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox-valve-small-0/meshes/CRANK-ROOT-LINK_link_mesh.dae b/environment_models/drcbox-valve-small-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
new file mode 100644
index 00000000..923402d8
--- /dev/null
+++ b/environment_models/drcbox-valve-small-0/meshes/CRANK-ROOT-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0JoinedMaterial__1-fx" name="m0JoinedMaterial__1">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__1" name="m0JoinedMaterial__1">
+      <instance_effect url="#m0JoinedMaterial__1-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="CRANK-ROOT-LINK_link" name="CRANK-ROOT-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__1" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-valve-small-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae b/environment_models/drcbox-valve-small-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
new file mode 100644
index 00000000..9caa166f
--- /dev/null
+++ b/environment_models/drcbox-valve-small-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
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+            </emission>
+            <ambient>
+              <color sid="ambient">0.0001   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0JoinedMaterial__2" name="m0JoinedMaterial__2">
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+    </material>
+  </library_materials>
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415 416 417 418 419 420 420 421 418 422 423 424 424 425 422 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 440 441 438 442 443 444 444 445 442 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 460 461 458 462 463 464 464 465 462 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 480 481 478 482 483 484 484 485 482 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 500 501 498 502 503 504 504 505 502 506 507 508 509 510 511 512 513 514 514 515 512 516 517 518 518 519 516 520 521 522 522 523 520 524 525 526 526 527 524 528 529 530 530 531 528 532 533 534 534 535 532 536 537 538 538 539 536 540 541 542 542 543 540 544 545 546 546 547 544 548 549 550 550 551 548 552 553 554 554 555 552 556 557 558 558 559 556 560 561 562 562 563 560 564 565 566 566 567 564 568 569 570 570 571 568 572 573 574 574 575 572 576 577 578 578 579 576 580 581 582 582 583 580 584 585 586 586 587 584 588 589 590 590 591 588 592 593 594 594 595 592 596 597 598 598 599 596 600 601 602 602 603 600 604 605 606 606 607 604 608 609 610 610 611 608 612 613 614 614 615 612 616 617 618 618 619 616 620 621 622 622 623 620 624 625 626 626 627 624 628 629 630 630 631 628 632 633 634 634 635 632 636 637 638 638 639 636 640 641 642 643 644 645 646 647 648 648 649 646 650 651 652 652 653 650 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 668 669 666 670 671 672 672 673 670 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 688 689 686 690 691 692 692 693 690 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 708 709 706 710 711 712 712 713 710 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 728 729 726 730 731 732 732 733 730 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 748 749 746 750 751 752 752 753 750 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 768 769 766 770 771 772 772 773 770 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 788 789 786 790 791 792 792 793 790 794 795 796 797 798 799 800 801 802 802 803 800 804 805 806 806 807 804 808 809 810 810 811 808 812 813 814 814 815 812 816 817 818 818 819 816 820 821 822 822 823 820 824 825 826 826 827 824 828 829 830 830 831 828 832 833 834 834 835 832 836 837 838 838 839 836 840 841 842 842 843 840 844 845 846 846 847 844 848 849 850 850 851 848 852 853 854 854 855 852 856 857 858 858 859 856 860 861 862 862 863 860 864 865 866 866 867 864 868 869 870 870 871 868 872 873 874 874 875 872 876 877 878 878 879 876 880 881 882 882 883 880 884 885 886 886 887 884 888 889 890 890 891 888 892 893 894 894 895 892 896 897 898 898 899 896 900 901 902 902 903 900 904 905 906 906 907 904 908 909 910 910 911 908 912 913 914 914 915 912 916 917 918 918 919 916 920 921 922 922 923 920 924 925 926 926 927 924 928 929 930 931 932 933 934 935 936 936 937 934 938 939 940 940 941 938 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 956 957 954 958 959 960 960 961 958 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 976 977 974 978 979 980 980 981 978 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 996 997 994 998 999 1000 1000 1001 998 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="VALVE-HANDLE-LINK_link" name="VALVE-HANDLE-LINK_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0JoinedMaterial__2" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/drcbox-valve-small-0/model.config b/environment_models/drcbox-valve-small-0/model.config
new file mode 100644
index 00000000..6f2a4be0
--- /dev/null
+++ b/environment_models/drcbox-valve-small-0/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drcbox-valve-small-0</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drcbox-valve-small-0/model.urdf b/environment_models/drcbox-valve-small-0/model.urdf
new file mode 100644
index 00000000..e1a71265
--- /dev/null
+++ b/environment_models/drcbox-valve-small-0/model.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<robot name="drcbox-valve-small-0-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="CRANK-ROOT-LINK_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-small-0/meshes/CRANK-ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-small-0/meshes/CRANK-ROOT-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="CRANK-ROOT-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="VALVE-HANDLE-LINK_link">
+    <visual>
+      <origin xyz="0 0 0.353" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-small-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.353" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://drcbox-valve-small-0/meshes/VALVE-HANDLE-LINK_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="VALVE-HANDLE-LINK_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <joint name="CRANK-JOINT" type="revolute">
+    <parent link="CRANK-ROOT-LINK_link"/>
+    <child  link="VALVE-HANDLE-LINK_link"/>
+    <origin xyz="0 0 0.353" rpy="0 -0 0 "/>
+    <axis   xyz="0 0 1"/>
+    <limit lower="-62.8319" upper="62.8319" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="CRANK-JOINT_trans" >
+    <actuator name="CRANK-JOINT_motor" />
+    <joint name="CRANK-JOINT" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="CRANK-JOINT">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+</robot>
diff --git a/environment_models/drcbox/model.config b/environment_models/drcbox/model.config
new file mode 100644
index 00000000..e8eff33a
--- /dev/null
+++ b/environment_models/drcbox/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>drcbox</name>
+  <version>0.1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+  <description>
+    drcbox
+  </description>
+</model>
diff --git a/environment_models/drcbox/model.sdf b/environment_models/drcbox/model.sdf
new file mode 100644
index 00000000..44cb44a6
--- /dev/null
+++ b/environment_models/drcbox/model.sdf
@@ -0,0 +1,150 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="drcbox">
+
+    <include>
+      <uri>model://drcbox-drcbox-base-0</uri>
+      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+      <name>drcbox-drcbox-base-0</name>
+    </include>
+
+    <include>
+      <uri>model://drcbox-valve-small-0</uri>
+      <pose>0.25 0.385 0.98 1.5708 0.0 -1.5708</pose>
+      <name>drcbox-valve-small-0</name>
+    </include>
+
+    <include>
+      <uri>model://drcbox-valve-large-0</uri>
+      <pose>0.2 -0.01 1.175 0.0 -1.5708 0.0</pose>
+      <name>drcbox-valve-large-0</name>
+    </include>
+
+    <include>
+      <uri>model://drcbox-valve-bar-0</uri>
+      <pose>0.25 -0.38 0.98 0.0 -1.5708 0.0</pose>
+      <name>drcbox-valve-bar-0</name>
+    </include>
+
+    <include>
+      <uri>model://drcbox-drill-wall-0</uri>
+      <pose>0.5 -0.44 0.5 0.0 0.0 1.5708</pose>
+      <name>drcbox-drill-wall-0</name>
+    </include>
+
+    <include>
+      <uri>model://drcbox-drill-table-0</uri>
+      <pose>1.015 -0.4 0.96 0.0 0.0 1.5708</pose>
+      <name>drcbox-drill-table-0</name>
+    </include>
+
+    <include>
+      <uri>model://drcbox-hose-y-joint-0</uri>
+      <pose>0.225 0.45 0.91 -1.5708 1.5708 0.0</pose>
+      <name>drcbox-hose-y-joint-0</name>
+    </include>
+
+    <include>
+      <uri>model://drcbox-hose-reel-0</uri>
+      <pose>0.765 0.475 0.93 0.0 0.0 0.0</pose>
+      <name>drcbox-hose-reel-0</name>
+    </include>
+
+    <joint name="drcbox-drcbox-base-0-joint" type="revolute">
+      <parent>world</parent>
+      <child>drcbox-drcbox-base-0::nil_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="drcbox-valve-small-0-joint" type="revolute">
+      <parent>drcbox-drcbox-base-0::nil_link</parent>
+      <child>drcbox-valve-small-0::CRANK-ROOT-LINK_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="drcbox-valve-large-0-joint" type="revolute">
+      <parent>drcbox-drcbox-base-0::nil_link</parent>
+      <child>drcbox-valve-large-0::CRANK-ROOT-LINK_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="drcbox-valve-bar-0-joint" type="revolute">
+      <parent>drcbox-drcbox-base-0::nil_link</parent>
+      <child>drcbox-valve-bar-0::CRANK-ROOT-LINK_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="drcbox-drill-wall-0-joint" type="revolute">
+      <parent>drcbox-drcbox-base-0::nil_link</parent>
+      <child>drcbox-drill-wall-0::nil_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="drcbox-drill-table-0-joint" type="revolute">
+      <parent>drcbox-drcbox-base-0::nil_link</parent>
+      <child>drcbox-drill-table-0::nil_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="drcbox-hose-y-joint-0-joint" type="revolute">
+      <parent>drcbox-drcbox-base-0::nil_link</parent>
+      <child>drcbox-hose-y-joint-0::nil_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="drcbox-hose-reel-0-joint" type="revolute">
+      <parent>drcbox-drcbox-base-0::nil_link</parent>
+      <child>drcbox-hose-reel-0::ROOT-LINK_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+        </limit>
+      </axis>
+    </joint>
+
+  </model>
+</sdf>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index 150c0078..375c19b8 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -7,9 +7,21 @@
   <models>
     <uri>file://3d-coord-arrow</uri>
     <uri>file://3d-coord-arrow_static</uri>
+    <uri>file://83B1_valve_wall</uri>
+    <uri>file://83B1_wall</uri>
     <uri>file://cupboard</uri>
-    <uri>file://cupboard_fixed</uri>
-    <uri>file://cupboard_static</uri>
-    <uri>file://simple-box</uri>
+    <uri>file://cutout_wall</uri>
+    <uri>file://empty_wall</uri>
+    <uri>file://simple_box</uri>
+    <uri>file://wheel_valve_wall</uri>
+    <uri>file://drcbox</uri>
+    <uri>file://drcbox-drcbox-base-0</uri>
+    <uri>file://drcbox-drill-table-0</uri>
+    <uri>file://drcbox-drill-wall-0</uri>
+    <uri>file://drcbox-hose-reel-0</uri>
+    <uri>file://drcbox-hose-y-joint-0</uri>
+    <uri>file://drcbox-valve-bar-0</uri>
+    <uri>file://drcbox-valve-large-0</uri>
+    <uri>file://drcbox-valve-small-0</uri>
   </models>
 </database>

From e65d23d78eef803bc550c47c6851d723bb5dda4a Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 23 May 2014 14:44:22 +0900
Subject: [PATCH 278/306] added dewalt_dewalt_dc550ka

---
 .../dewalt_dc550ka/meshes/dewalt_dc550ka.dae  | 63 +++++++++++++++++++
 .../dewalt_dc550ka/model.config               | 10 +++
 environment_models/dewalt_dc550ka/model.urdf  | 41 ++++++++++++
 environment_models/manifest.xml               |  1 +
 4 files changed, 115 insertions(+)
 create mode 100644 environment_models/dewalt_dc550ka/meshes/dewalt_dc550ka.dae
 create mode 100644 environment_models/dewalt_dc550ka/model.config
 create mode 100644 environment_models/dewalt_dc550ka/model.urdf

diff --git a/environment_models/dewalt_dc550ka/meshes/dewalt_dc550ka.dae b/environment_models/dewalt_dc550ka/meshes/dewalt_dc550ka.dae
new file mode 100644
index 00000000..00cc1139
--- /dev/null
+++ b/environment_models/dewalt_dc550ka/meshes/dewalt_dc550ka.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fri May 23 04:49:21 2014</created>
+        <modified>Fri May 23 04:49:21 2014</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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16600 13024 16601 13031 16601 13033 16601 13033 16602 13038 16602 13024 16602 13024 16603 13038 16603 13040 16603 13024 16604 13040 16604 13046 16604 13046 16605 13048 16605 13024 16605 13024 16606 13048 16606 13054 16606 13024 16607 13054 16607 13085 16607 13085 16608 13054 16608 13088 16608 13085 16609 13088 16609 13092 16609 12873 16610 12885 16610 12928 16610 12873 16611 12928 16611 13024 16611 13024 16612 12928 16612 12988 16612 13024 16613 12988 16613 13014 16613 12763 16614 12765 16614 12742 16614 12742 16615 12765 16615 12821 16615 12742 16616 12821 16616 12873 16616 12873 16617 12821 16617 12875 16617 12873 16618 12875 16618 12885 16618 12614 16619 12636 16619 12646 16619 12673 16620 12672 16620 12662 16620 12662 16621 12672 16621 12614 16621 12662 16622 12614 16622 12652 16622 12652 16623 12614 16623 12646 16623 12673 16624 12684 16624 12672 16624 12672 16625 12684 16625 12689 16625 12672 16626 12689 16626 12702 16626 12702 16627 12714 16627 12672 16627 12672 16628 12714 16628 12719 16628 12672 16629 12719 16629 12742 16629 12742 16630 12719 16630 12723 16630 12723 16631 12737 16631 12742 16631 12742 16632 12737 16632 12745 16632 12742 16633 12745 16633 12756 16633 12756 16634 12759 16634 12742 16634 12742 16635 12759 16635 12761 16635 12742 16636 12761 16636 12763 16636 12590 16637 12598 16637 12543 16637 12543 16638 12598 16638 12612 16638 12543 16639 12612 16639 12614 16639 12614 16640 12612 16640 12624 16640 12614 16641 12624 16641 12636 16641 12527 16642 12540 16642 12438 16642 12438 16643 12540 16643 12548 16643 12438 16644 12548 16644 12543 16644 12543 16645 12548 16645 12588 16645 12543 16646 12588 16646 12590 16646 12377 16647 12456 16647 12476 16647 12377 16648 12476 16648 12438 16648 12476 16649 12478 16649 12438 16649 12438 16650 12478 16650 12494 16650 12438 16651 12494 16651 12513 16651 12513 16652 12521 16652 12438 16652 12438 16653 12521 16653 12523 16653 12438 16654 12523 16654 12527 16654 12383 16655 12407 16655 12364 16655 12364 16656 12407 16656 12435 16656 12383 16657 12364 16657 12379 16657 12379 16658 12364 16658 12357 16658 12379 16659 12357 16659 12367 16659 12742 16660 12710 16660 12672 16660 12672 16661 12710 16661 12664 16661 12672 16662 12664 16662 12614 16662 12614 16663 12664 16663 12626 16663 12352 16664 12377 16664 12354 16664 12626 16665 12602 16665 12614 16665 12614 16666 12602 16666 12528 16666 12614 16667 12528 16667 12543 16667 12543 16668 12528 16668 12510 16668 12543 16669 12510 16669 12438 16669 12438 16670 12510 16670 12424 16670 12438 16671 12424 16671 12377 16671 12377 16672 12424 16672 12360 16672 12377 16673 12360 16673 12354 16673 12334 16674 12340 16674 12342 16674 12342 16675 12340 16675 12348 16675 12342 16676 12348 16676 12352 16676 12456 16677 12377 16677 12435 16677 12435 16678 12377 16678 12352 16678 12435 16679 12352 16679 12364 16679 12364 16680 12352 16680 12348 16680 12364 16681 12348 16681 12357 16681 13092 16682 13102 16682 13085 16682 13085 16683 13102 16683 13137 16683 13085 16684 13137 16684 13121 16684 13121 16685 13137 16685 13135 16685 13121 16686 13135 16686 13131 16686 12905 16687 12873 16687 13022 16687 13022 16688 12873 16688 13024 16688 13022 16689 13024 16689 13076 16689 13076 16690 13024 16690 13085 16690 13076 16691 13085 16691 13083 16691 13083 16692 13085 16692 13121 16692 12326 16693 12334 16693 12336 16693 12336 16694 12334 16694 12342 16694 12336 16695 12342 16695 12338 16695 12338 16696 12342 16696 12352 16696 12338 16697 12352 16697 12344 16697 12344 16698 12352 16698 12354 16698 12905 16699 12864 16699 12873 16699 12873 16700 12864 16700 12808 16700 12873 16701 12808 16701 12742 16701 12742 16702 12808 16702 12731 16702 12742 16703 12731 16703 12710 16703</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/environment_models/dewalt_dc550ka/model.config b/environment_models/dewalt_dc550ka/model.config
new file mode 100644
index 00000000..178e77f1
--- /dev/null
+++ b/environment_models/dewalt_dc550ka/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>dewalt_dc550ka</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     dewalt_dc550ka
+  </description>
+</model>
+
diff --git a/environment_models/dewalt_dc550ka/model.urdf b/environment_models/dewalt_dc550ka/model.urdf
new file mode 100644
index 00000000..c9041574
--- /dev/null
+++ b/environment_models/dewalt_dc550ka/model.urdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<robot name="dewalt_dc550ka-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="nil_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://dewalt_dc550ka/meshes/dewalt_dc550ka.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://dewalt_dc550ka/meshes/dewalt_dc550ka.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.93999" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="nil_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index 375c19b8..798ef262 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -14,6 +14,7 @@
     <uri>file://empty_wall</uri>
     <uri>file://simple_box</uri>
     <uri>file://wheel_valve_wall</uri>
+    <uri>file://dewalt_dc550ka</uri>
     <uri>file://drcbox</uri>
     <uri>file://drcbox-drcbox-base-0</uri>
     <uri>file://drcbox-drill-table-0</uri>

From fac0fd6982fbc5f86d125e98c4499e7ca7383af6 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 23 May 2014 15:10:23 +0900
Subject: [PATCH 279/306] added drcbox.world

---
 worlds/83B1_drc_box.world | 83 ---------------------------------------
 worlds/drcbox.world       | 43 ++++++++++++++++++++
 2 files changed, 43 insertions(+), 83 deletions(-)
 delete mode 100644 worlds/83B1_drc_box.world
 create mode 100644 worlds/drcbox.world

diff --git a/worlds/83B1_drc_box.world b/worlds/83B1_drc_box.world
deleted file mode 100644
index c7afeb5a..00000000
--- a/worlds/83B1_drc_box.world
+++ /dev/null
@@ -1,83 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-
-    <include>
-      <uri>model://83B1_valve_wall</uri>
-      <pose>0.9 0 0 0 0 3.14</pose>
-    </include>
-
-    <include>
-      <uri>model://83B1_wall</uri>
-      <pose>0.9 0.9 0 0 0 4.71</pose>
-    </include>
-
-    <include>
-      <uri>model://83B1_wall</uri>
-      <pose>0 0.9 0 0 0 6.28</pose>
-    </include>
-
-    <include>
-      <uri>model://83B1_wall</uri>
-      <pose>0 0 0 0 0 7.85</pose>
-    </include>
-    <!--
-    <include>
-      <uri>model://empty_wall</uri>
-      <pose>-0.01 0.01 0 0 0 7.85</pose>
-    </include>
-    -->
-
-    <!-- drill -->
-    <include>
-      <uri>model://table</uri>
-      <static>true</static>
-      <pose>2.0 0.4 0 0 0 1.57</pose>
-    </include>
-    <include>
-      <uri>model://cordless_drill</uri>
-      <pose>2.0 0.4 1.0 0 0 1.57</pose>
-    </include>
-
-    <!-- hose -->
-    <include>
-      <uri>model://vrc_firehose_long</uri>
-      <pose>-0.6 -0.7 1.0 0 0 1.57</pose>
-    </include>
-    <include>
-      <uri>model://vrc_standpipe</uri>
-      <pose>-0.6 0.9 1.0 -1.5707 0 4.71</pose>
-    </include>
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <!-- <include> -->
-    <!--   <uri>model://HRP2JSK</uri> -->
-    <!--   <pose>0 -1 0.70 0 0 1.57</pose> -->
-    <!-- </include> -->
-  </world>
-</sdf>
diff --git a/worlds/drcbox.world b/worlds/drcbox.world
new file mode 100644
index 00000000..c7746602
--- /dev/null
+++ b/worlds/drcbox.world
@@ -0,0 +1,43 @@
+<?xml version="1.0" ?>
+<!-- This is a source file of world. -->
+<!-- Do not edit this file. -->
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- A robot -->
+    <!-- Objects -->
+    <include>
+      <uri>model://drcbox</uri>
+      <pose>-2.0 0.0 0.0 0.0 0.0 0.0</pose>
+    </include>
+    <include>
+      <uri>model://dewalt_dc550ka</uri>
+      <pose>-0.962 -0.397 1.0 0.0 0.0 0.0</pose>
+    </include>
+  </world>
+</sdf>

From fba63c099f5557cbcf26b70c481837adbb4413a4 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 23 May 2014 15:12:58 +0900
Subject: [PATCH 280/306] fix friction parameter of drill

---
 environment_models/dewalt_dc550ka/model.urdf | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/environment_models/dewalt_dc550ka/model.urdf b/environment_models/dewalt_dc550ka/model.urdf
index c9041574..ec67eb22 100644
--- a/environment_models/dewalt_dc550ka/model.urdf
+++ b/environment_models/dewalt_dc550ka/model.urdf
@@ -35,7 +35,7 @@
     </inertial>
   </link>
   <gazebo reference="nil_link">
-    <mu1>0.9</mu1>
-    <mu2>0.9</mu2>
+    <mu1>9.0</mu1>
+    <mu2>9.0</mu2>
   </gazebo>
 </robot>

From 44a3545732ab6d4a4b76ed714131c3d4de8ff9be Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 23 May 2014 17:08:44 +0900
Subject: [PATCH 281/306] convert subscene and wall model when generating room
 urdf

---
 euslisp/hrpsys-gazebo-utils.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index 424d24c9..ad941249 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -52,7 +52,7 @@
 (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 (send room :objects))
+    (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)

From 3634a4a3de9ee295760ba5dd90d833081ce0093d Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 13 Jun 2014 03:07:03 +0900
Subject: [PATCH 282/306] set HPRSYS_PY_NAME and HRPSYS_PY_PKG in launch files
 for using hrpsys unstable component

---
 launch/hrp2jsknt_hrpsys_bringup.launch  | 1 +
 launch/hrp2jsknts_hrpsys_bringup.launch | 1 +
 launch/robot_hrpsys_bringup.launch      | 5 +++--
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/launch/hrp2jsknt_hrpsys_bringup.launch b/launch/hrp2jsknt_hrpsys_bringup.launch
index dbc8f5e6..5050ac19 100644
--- a/launch/hrp2jsknt_hrpsys_bringup.launch
+++ b/launch/hrp2jsknt_hrpsys_bringup.launch
@@ -19,5 +19,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
     <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="HRPSYS_PY_NAME" value="hrp2jsknt_unstable_hrpsys_config.py" />
   </include>
 </launch>
diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
index 7e4f723b..44bd2e71 100644
--- a/launch/hrp2jsknts_hrpsys_bringup.launch
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -19,5 +19,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
     <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="HRPSYS_PY_NAME" value="hrp2jsknts_unstable_hrpsys_config.py" />
   </include>
 </launch>
diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index cfd1902b..c4565191 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -7,6 +7,7 @@
   <!-- ROBOT instance name (name_space) -->
   <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
   <arg name="USE_INSTANCE_NAME" default="false" />
+  <arg name="HRPSYS_PY_NAME" default="robot_unstable_hrpsys_config.py" />
   <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)" />
   <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).conf" />
 
@@ -42,8 +43,8 @@
     <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
     <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <!--arg name="HRPSYS_PY_PKG" value="hrpsys_gazebo_tutorials"/>
-    <arg name="HRPSYS_PY_NAME" value="sample_hrpsys.py"/-->
+    <arg name="HRPSYS_PY_PKG" default="hrpsys_ros_bridge_tutorials" />
+    <arg name="HRPSYS_PY_NAME" default="$(arg HRPSYS_PY_NAME)" />
     <arg name="hrpsys_periodic_rate" value="$(arg HRPSYS_RATE)" />
     <!--arg name="RTCD_LAUNCH_PREFIX" value="xterm -e gdb ++args" /-->
   </include>

From 37d5a3f36b2fee5d57605d2dce4d1ac0a7e261b9 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 16 Jun 2014 22:08:36 +0900
Subject: [PATCH 283/306] use unstable hrpsys-base component for hrp2jsk,
 samplerobot, and staro

---
 launch/hrp2jsk_hrpsys_bringup.launch     | 1 +
 launch/samplerobot_hrpsys_bringup.launch | 1 +
 launch/staro_hrpsys_bringup.launch       | 1 +
 3 files changed, 3 insertions(+)

diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index 91797a06..146f5bd3 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -16,5 +16,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSK" />
     <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="HRPSYS_PY_NAME" value="hrp2jsk_unstable_hrpsys_config.py" />
   </include>
 </launch>
diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index 1161bc47..9e1bd0f6 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -20,5 +20,6 @@
     <arg name="ROBOT_TYPE" value="SampleRobot" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="HRPSYS_PY_NAME" value="samplerobot_unstable_hrpsys_config.py" />
   </include>
 </launch>
diff --git a/launch/staro_hrpsys_bringup.launch b/launch/staro_hrpsys_bringup.launch
index 665c0db8..7082fef8 100644
--- a/launch/staro_hrpsys_bringup.launch
+++ b/launch/staro_hrpsys_bringup.launch
@@ -5,5 +5,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="STARO" />
     <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="HRPSYS_PY_NAME" value="staro_unstable_hrpsys_config.py" />
   </include>
 </launch>

From e00022d025c3ac09302c0855d2e17fb69d739554 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 17 Jun 2014 18:37:07 +0900
Subject: [PATCH 284/306] added kinect and hand end effector by xacro instead
 of sed

---
 robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro   | 94 +++++++++++++++++++
 .../HRP2JSKNT_optional_urdf_setting.sh        |  6 --
 robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro | 94 +++++++++++++++++++
 .../HRP2JSKNTS_optional_urdf_setting.sh       |  6 --
 4 files changed, 188 insertions(+), 12 deletions(-)

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
index 597600ea..2ecaa59c 100644
--- a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
@@ -2,4 +2,98 @@
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT_only_body.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <!-- add Kinect plugin, link and joint without visual and collision -->
+  <joint name="xtion_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>
+    <parent link="HEAD_LINK1"/>
+    <child link="xtion_link"/>
+  </joint>
+  <link name="xtion_link">
+    <inertial>
+      <mass value="0.200"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
+    </inertial>
+  </link>
+  <joint name="xtion_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_depth_frame"/>
+  </joint>
+  <link name="xtion_depth_frame"/>
+  <joint name="xtion_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_depth_frame"/>
+    <child link="xtion_depth_optical_frame"/>
+  </joint>
+  <link name="xtion_depth_optical_frame"/>
+  <joint name="xtion_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_rgb_frame"/>
+  </joint>
+  <link name="xtion_rgb_frame"/>
+  <joint name="xtion_rgb_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_rgb_frame"/>
+    <child link="xtion_rgb_optical_frame"/>
+  </joint>
+  <link name="xtion_rgb_optical_frame"/>
+  <gazebo reference="xtion_depth_frame">
+    <sensor name="xtion" type="depth">
+      <update_rate>20</update_rate>
+      <camera>
+        <horizontal_fov>1.09606677025</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.5</near>
+          <far>9</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>20</updateRate>
+        <imageTopicName>xtion/rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>xtion/depth/points</pointCloudTopicName>
+        <frameName>xtion_depth_optical_frame</frameName>
+        <distortion_k1>0.0</distortion_k1>
+        <distortion_k2>0.0</distortion_k2>
+        <distortion_k3>0.0</distortion_k3>
+        <distortion_t1>0.0</distortion_t1>
+        <distortion_t2>0.0</distortion_t2>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- added end-effector virtual joints and links -->
+  <link name="RARM_EEF_PARENT" />
+  <link name="RARM_EEF_CHILD" />
+  <joint name="rarm_eef_1" type="fixed">
+    <origin rpy="0 1.5708 0" xyz="-0.0042 0.0392 -0.1245"/>
+    <parent link="RARM_LINK6"/>
+    <child link="RARM_EEF_PARENT"/>
+  </joint>
+  <joint name="rarm_eef_2" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="RARM_EEF_PARENT"/>
+    <child link="RARM_EEF_CHILD"/>
+  </joint>
+  <link name="LARM_EEF_PARENT" />
+  <link name="LARM_EEF_CHILD" />
+  <joint name="larm_eef_1" type="fixed">
+    <origin rpy="0 1.5708 0" xyz="-0.0042 -0.0392 -0.1245"/>
+    <parent link="LARM_LINK6"/>
+    <child link="LARM_EEF_PARENT"/>
+  </joint>
+  <joint name="larm_eef_2" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="LARM_EEF_PARENT"/>
+    <child link="LARM_EEF_CHILD"/>
+  </joint>
 </robot>
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index b4024d21..2d274e15 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -57,9 +57,3 @@ sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
 # generate URDF with xacro
 cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
 rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
-
-# add Kinect plugin, link and joint without visual and collision
-sed -i -e 's@</robot>@  <joint name="xtion_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>\n    <parent link="HEAD_LINK1"/>\n    <child link="xtion_link"/>\n  </joint>\n  <link name="xtion_link">\n    <inertial>\n      <mass value="0.200"/>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>\n    </inertial>\n  </link>\n  <joint name="xtion_depth_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_depth_frame"/>\n  </joint>\n  <link name="xtion_depth_frame"/>\n  <joint name="xtion_depth_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_depth_frame"/>\n    <child link="xtion_depth_optical_frame"/>\n  </joint>\n  <link name="xtion_depth_optical_frame"/>\n  <joint name="xtion_rgb_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_rgb_frame"/>\n  </joint>\n  <link name="xtion_rgb_frame"/>\n  <joint name="xtion_rgb_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_rgb_frame"/>\n    <child link="xtion_rgb_optical_frame"/>\n  </joint>\n  <link name="xtion_rgb_optical_frame"/>\n  <gazebo reference="xtion_depth_frame">\n    <sensor name="xtion" type="depth">\n      <update_rate>20</update_rate>\n      <camera>\n        <horizontal_fov>1.09606677025</horizontal_fov>\n        <image>\n          <format>R8G8B8</format>\n          <width>640</width>\n          <height>480</height>\n        </image>\n        <clip>\n          <near>0.5</near>\n          <far>9</far>\n        </clip>\n      </camera>\n      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_camera_controller">\n        <alwaysOn>true</alwaysOn>\n        <updateRate>20</updateRate>\n        <imageTopicName>xtion/rgb/image_raw</imageTopicName>\n        <cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>\n        <depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>\n        <depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>\n        <pointCloudTopicName>xtion/depth/points</pointCloudTopicName>\n        <frameName>xtion_depth_optical_frame</frameName>\n        <distortion_k1>0.0</distortion_k1>\n        <distortion_k2>0.0</distortion_k2>\n        <distortion_k3>0.0</distortion_k3>\n        <distortion_t1>0.0</distortion_t1>\n        <distortion_t2>0.0</distortion_t2>\n      </plugin>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
-# added end-effector virtual joints and links
-sed -i -e 's@</robot>@  <link name="RARM_EEF_PARENT" />\n  <link name="RARM_EEF_CHILD" />\n  <joint name="rarm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 0.0392 -0.1245"/>\n    <parent link="RARM_LINK6"/>\n    <child link="RARM_EEF_PARENT"/>\n  </joint>\n  <joint name="rarm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="RARM_EEF_PARENT"/>\n    <child link="RARM_EEF_CHILD"/>\n  </joint>\n  <link name="LARM_EEF_PARENT" />\n  <link name="LARM_EEF_CHILD" />\n  <joint name="larm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 -0.0392 -0.1245"/>\n    <parent link="LARM_LINK6"/>\n    <child link="LARM_EEF_PARENT"/>\n  </joint>\n  <joint name="larm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="LARM_EEF_PARENT"/>\n    <child link="LARM_EEF_CHILD"/>\n  </joint>\n</robot>@g' ${OUTPUT_FILE}
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
index 20f3f8e3..992de9e0 100644
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
@@ -2,4 +2,98 @@
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS_only_body.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <!-- add Kinect plugin, link and joint without visual and collision -->
+  <joint name="xtion_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>
+    <parent link="HEAD_LINK1"/>
+    <child link="xtion_link"/>
+  </joint>
+  <link name="xtion_link">
+    <inertial>
+      <mass value="0.200"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
+    </inertial>
+  </link>
+  <joint name="xtion_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_depth_frame"/>
+  </joint>
+  <link name="xtion_depth_frame"/>
+  <joint name="xtion_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_depth_frame"/>
+    <child link="xtion_depth_optical_frame"/>
+  </joint>
+  <link name="xtion_depth_optical_frame"/>
+  <joint name="xtion_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_rgb_frame"/>
+  </joint>
+  <link name="xtion_rgb_frame"/>
+  <joint name="xtion_rgb_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_rgb_frame"/>
+    <child link="xtion_rgb_optical_frame"/>
+  </joint>
+  <link name="xtion_rgb_optical_frame"/>
+  <gazebo reference="xtion_depth_frame">
+    <sensor name="xtion" type="depth">
+      <update_rate>20</update_rate>
+      <camera>
+        <horizontal_fov>1.09606677025</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.5</near>
+          <far>9</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>20</updateRate>
+        <imageTopicName>xtion/rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>xtion/depth/points</pointCloudTopicName>
+        <frameName>xtion_depth_optical_frame</frameName>
+        <distortion_k1>0.0</distortion_k1>
+        <distortion_k2>0.0</distortion_k2>
+        <distortion_k3>0.0</distortion_k3>
+        <distortion_t1>0.0</distortion_t1>
+        <distortion_t2>0.0</distortion_t2>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- added end-effector virtual joints and links -->
+  <link name="RARM_EEF_PARENT" />
+  <link name="RARM_EEF_CHILD" />
+  <joint name="rarm_eef_1" type="fixed">
+    <origin rpy="0 1.5708 0" xyz="-0.0042 0.0392 -0.1245"/>
+    <parent link="RARM_LINK6"/>
+    <child link="RARM_EEF_PARENT"/>
+  </joint>
+  <joint name="rarm_eef_2" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="RARM_EEF_PARENT"/>
+    <child link="RARM_EEF_CHILD"/>
+  </joint>
+  <link name="LARM_EEF_PARENT" />
+  <link name="LARM_EEF_CHILD" />
+  <joint name="larm_eef_1" type="fixed">
+    <origin rpy="0 1.5708 0" xyz="-0.0042 -0.0392 -0.1245"/>
+    <parent link="LARM_LINK6"/>
+    <child link="LARM_EEF_PARENT"/>
+  </joint>
+  <joint name="larm_eef_2" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="LARM_EEF_PARENT"/>
+    <child link="LARM_EEF_CHILD"/>
+  </joint>
 </robot>
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
index 48039180..e9b599be 100755
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
@@ -57,9 +57,3 @@ sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
 # generate URDF with xacro
 cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
 rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
-
-# add Kinect plugin, link and joint without visual and collision
-sed -i -e 's@</robot>@  <joint name="xtion_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>\n    <parent link="HEAD_LINK1"/>\n    <child link="xtion_link"/>\n  </joint>\n  <link name="xtion_link">\n    <inertial>\n      <mass value="0.200"/>\n      <origin rpy="0 0 0" xyz="0 0 0"/>\n      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>\n    </inertial>\n  </link>\n  <joint name="xtion_depth_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_depth_frame"/>\n  </joint>\n  <link name="xtion_depth_frame"/>\n  <joint name="xtion_depth_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_depth_frame"/>\n    <child link="xtion_depth_optical_frame"/>\n  </joint>\n  <link name="xtion_depth_optical_frame"/>\n  <joint name="xtion_rgb_joint" type="fixed">\n    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>\n    <parent link="xtion_link"/>\n    <child link="xtion_rgb_frame"/>\n  </joint>\n  <link name="xtion_rgb_frame"/>\n  <joint name="xtion_rgb_optical_joint" type="fixed">\n    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>\n    <parent link="xtion_rgb_frame"/>\n    <child link="xtion_rgb_optical_frame"/>\n  </joint>\n  <link name="xtion_rgb_optical_frame"/>\n  <gazebo reference="xtion_depth_frame">\n    <sensor name="xtion" type="depth">\n      <update_rate>20</update_rate>\n      <camera>\n        <horizontal_fov>1.09606677025</horizontal_fov>\n        <image>\n          <format>R8G8B8</format>\n          <width>640</width>\n          <height>480</height>\n        </image>\n        <clip>\n          <near>0.5</near>\n          <far>9</far>\n        </clip>\n      </camera>\n      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_camera_controller">\n        <alwaysOn>true</alwaysOn>\n        <updateRate>20</updateRate>\n        <imageTopicName>xtion/rgb/image_raw</imageTopicName>\n        <cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>\n        <depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>\n        <depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>\n        <pointCloudTopicName>xtion/depth/points</pointCloudTopicName>\n        <frameName>xtion_depth_optical_frame</frameName>\n        <distortion_k1>0.0</distortion_k1>\n        <distortion_k2>0.0</distortion_k2>\n        <distortion_k3>0.0</distortion_k3>\n        <distortion_t1>0.0</distortion_t1>\n        <distortion_t2>0.0</distortion_t2>\n      </plugin>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
-# added end-effector virtual joints and links
-sed -i -e 's@</robot>@  <link name="RARM_EEF_PARENT" />\n  <link name="RARM_EEF_CHILD" />\n  <joint name="rarm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 0.0392 -0.1245"/>\n    <parent link="RARM_LINK6"/>\n    <child link="RARM_EEF_PARENT"/>\n  </joint>\n  <joint name="rarm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="RARM_EEF_PARENT"/>\n    <child link="RARM_EEF_CHILD"/>\n  </joint>\n  <link name="LARM_EEF_PARENT" />\n  <link name="LARM_EEF_CHILD" />\n  <joint name="larm_eef_1" type="fixed">\n    <origin rpy="0 1.5708 0" xyz="-0.0042 -0.0392 -0.1245"/>\n    <parent link="LARM_LINK6"/>\n    <child link="LARM_EEF_PARENT"/>\n  </joint>\n  <joint name="larm_eef_2" type="fixed">\n    <origin rpy="0 0 0" xyz="0 0 0"/>\n    <parent link="LARM_EEF_PARENT"/>\n    <child link="LARM_EEF_CHILD"/>\n  </joint>\n</robot>@g' ${OUTPUT_FILE}

From 6a26541c493937577ee5d0e264571d5d228fd10f Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 20 Jun 2014 12:45:16 +0900
Subject: [PATCH 285/306] added basket urdf model and table_basket world file

---
 .../basket/meshes/BOX_link_mesh.dae           | 101 +++++++++++++++
 .../basket/meshes/LEFT_link_mesh.dae          | 101 +++++++++++++++
 .../basket/meshes/RIGHT_link_mesh.dae         | 101 +++++++++++++++
 environment_models/basket/model.config        |  10 ++
 environment_models/basket/model.urdf          | 119 ++++++++++++++++++
 environment_models/manifest.xml               |   1 +
 worlds/table_basket.world                     |  43 +++++++
 7 files changed, 476 insertions(+)
 create mode 100644 environment_models/basket/meshes/BOX_link_mesh.dae
 create mode 100644 environment_models/basket/meshes/LEFT_link_mesh.dae
 create mode 100644 environment_models/basket/meshes/RIGHT_link_mesh.dae
 create mode 100644 environment_models/basket/model.config
 create mode 100644 environment_models/basket/model.urdf
 create mode 100644 worlds/table_basket.world

diff --git a/environment_models/basket/meshes/BOX_link_mesh.dae b/environment_models/basket/meshes/BOX_link_mesh.dae
new file mode 100644
index 00000000..7bf11d96
--- /dev/null
+++ b/environment_models/basket/meshes/BOX_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.0001   0.0001   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0   0   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="2103"> -0.16 -0.225 0.25 -0.16 0.225 0.25 -0.16 0.225 0.24 -0.16 -0.225 0.24 -0.16 -0.225 0.24 0.16 -0.225 0.24 0.16 -0.225 0.25 -0.16 -0.225 0.25 0.16 -0.225 0.24 0.16 0.225 0.24 0.16 0.225 0.25 0.16 -0.225 0.25 -0.16 0.225 0.25 0.16 0.225 0.25 0.16 0.225 0.24 -0.16 0.225 0.24 0.16 0.225 0.24 0.16 -0.225 0.24 0.15 -0.215 0.24 0.15 0.215 0.24 -0.16 -0.225 0.24 -0.15 -0.215 0.24 -0.15 0.215 0.24 -0.16 0.225 0.24 0.15 -0.215 1.86753e-17 -0.15 -0.215 3.06152e-19 -0.15 0.215 3.06152e-19 0.15 0.215 1.86753e-17 -0.15 -0.00671875 0.160714 -0.15 0.0201562 0.178571 -0.15 0.0201562 0.160714 -0.15 0.194844 0.160714 -0.15 0.194844 0.178571 -0.15 0.215 0.24 -0.15 -0.0739062 0.160714 -0.15 -0.0739062 0.178571 -0.15 -0.0470312 0.160714 -0.15 0.215 3.06152e-19 -0.15 0.194844 0.0714286 -0.15 0.194844 0.0892857 -0.15 -0.141094 0.160714 -0.15 -0.141094 0.178571 -0.15 -0.114219 0.160714 -0.15 0.154531 0.0892857 -0.15 0.127656 0.0714286 -0.15 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+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
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+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
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+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/basket/meshes/LEFT_link_mesh.dae b/environment_models/basket/meshes/LEFT_link_mesh.dae
new file mode 100644
index 00000000..33f04f52
--- /dev/null
+++ b/environment_models/basket/meshes/LEFT_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.498047   0.498047   1</color>
+            </ambient>
+            <diffuse>
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+            <specular>
+              <color sid="specular">0   0   0   1</color>
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+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
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+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
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+              <param name="Y" type="float" />
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+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
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+        <polylist count="28" material="theresonlyone">
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="LEFT_link" name="LEFT_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
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+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
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+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/basket/meshes/RIGHT_link_mesh.dae b/environment_models/basket/meshes/RIGHT_link_mesh.dae
new file mode 100644
index 00000000..82b63411
--- /dev/null
+++ b/environment_models/basket/meshes/RIGHT_link_mesh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Someone</author>
+      <authoring_tool>Assimp Collada Exporter</authoring_tool>
+    </contributor>
+    <created>2000-01-01T23:59:59</created>
+    <modified>2000-01-01T23:59:59</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0blinn20-fx" name="m0blinn20">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0   0   0   1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.498047   0.498047   0.498047   1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.996094   0.996094   0.996094   1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0   0   0   1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">10</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0   0   0   0</color>
+            </reflective>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0blinn20" name="m0blinn20">
+      <instance_effect url="#m0blinn20-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="144"> -0.16 -0.055 -0.25 -0.16 0.115 -0.25 -0.16 0.115 -0.26 -0.16 -0.055 -0.26 0.145 -0.055 -0.25 0.145 -0.055 -0.26 0.16 -0.055 -0.26 0.16 -0.055 -0.25 -0.16 -0.055 -0.25 -0.16 -0.055 -0.26 -0.145 -0.055 -0.26 -0.145 -0.055 -0.25 0.16 -0.055 -0.25 0.16 -0.055 -0.26 0.16 0.115 -0.26 0.16 0.115 -0.25 -0.16 0.115 -0.25 -0.16 -0.055 -0.25 -0.145 -0.055 -0.25 0.145 -0.055 -0.25 0.16 -0.055 -0.25 0.16 0.115 -0.25 0.145 0.1 -0.25 -0.145 0.1 -0.25 0.16 0.115 -0.26 0.16 -0.055 -0.26 0.145 -0.055 -0.26 -0.145 -0.055 -0.26 -0.16 -0.055 -0.26 -0.16 0.115 -0.26 -0.145 0.1 -0.26 0.145 0.1 -0.26 0.16 0.115 -0.25 0.16 0.115 -0.26 -0.16 0.115 -0.26 -0.16 0.115 -0.25 -0.145 -0.055 -0.26 -0.145 0.1 -0.26 -0.145 0.1 -0.25 -0.145 -0.055 -0.25 -0.145 0.1 -0.26 0.145 0.1 -0.26 0.145 0.1 -0.25 -0.145 0.1 -0.25 0.145 -0.055 -0.25 0.145 0.1 -0.25 0.145 0.1 -0.26 0.145 -0.055 -0.26 </float_array>
+          <technique_common>
+            <accessor count="48" offset="0" source="#meshId0-positions-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="meshId0-normals" name="meshId0-normals">
+          <float_array id="meshId0-normals-array" count="144"> -1 0 0 -1 0 0 -1 0 0 -1 0 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 -0 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 -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 </float_array>
+          <technique_common>
+            <accessor count="48" offset="0" source="#meshId0-normals-array" stride="3">
+              <param name="X" type="float" />
+              <param name="Y" type="float" />
+              <param name="Z" type="float" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="meshId0-vertices">
+          <input semantic="POSITION" source="#meshId0-positions" />
+          <input semantic="NORMAL" source="#meshId0-normals" />
+        </vertices>
+        <polylist count="28" material="theresonlyone">
+          <input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>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 19 20 21 22 19 21 23 22 21 23 21 16 23 16 18 24 25 26 27 28 29 30 27 29 31 30 29 31 29 24 31 24 26 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="myScene" name="myScene">
+      <node id="base1d_med" name="base1d_med">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="RIGHT_link" name="RIGHT_link">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <instance_geometry url="#meshId0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="theresonlyone" target="#m0blinn20" />
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myScene" />
+  </scene>
+</COLLADA>
diff --git a/environment_models/basket/model.config b/environment_models/basket/model.config
new file mode 100644
index 00000000..96f0b325
--- /dev/null
+++ b/environment_models/basket/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>basket</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/basket/model.urdf b/environment_models/basket/model.urdf
new file mode 100644
index 00000000..7e9709ad
--- /dev/null
+++ b/environment_models/basket/model.urdf
@@ -0,0 +1,119 @@
+<?xml version="1.0"?>
+<robot name="basket-robot"
+       xmlns:xi="http://www.w3.org/2001/XInclude"
+       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <link name="BOX_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://basket/meshes/BOX_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://basket/meshes/BOX_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>
+    </inertial>
+  </link>
+  <gazebo reference="BOX_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="RIGHT_link">
+    <visual>
+      <origin xyz="0 0.055 0.255" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://basket/meshes/RIGHT_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0.055 0.255" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://basket/meshes/RIGHT_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="RIGHT_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <link name="LEFT_link">
+    <visual>
+      <origin xyz="0 -0.055 0.255" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://basket/meshes/LEFT_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.055 0.255" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="model://basket/meshes/LEFT_link_mesh.dae" scale="1 1 1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1" />
+      <origin xyz="0 0 0" rpy="0 -0 0"/>
+      <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/>
+    </inertial>
+  </link>
+  <gazebo reference="LEFT_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <joint name="HANDLE-HINGE1" type="revolute">
+    <parent link="BOX_link"/>
+    <child  link="RIGHT_link"/>
+    <origin xyz="0 0.055 0.255" rpy="0 -0 0 "/>
+    <axis   xyz="1 0 0"/>
+    <limit lower="0" upper="3.14159" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="HANDLE-HINGE1_trans" >
+    <actuator name="HANDLE-HINGE1_motor" />
+    <joint name="HANDLE-HINGE1" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="HANDLE-HINGE1">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+  <joint name="HANDLE-HINGE2" type="revolute">
+    <parent link="BOX_link"/>
+    <child  link="LEFT_link"/>
+    <origin xyz="0 -0.055 0.255" rpy="0 -0 0 "/>
+    <axis   xyz="1 0 0"/>
+    <limit lower="-3.14159" upper="0" effort="100" velocity="0.5" />
+    <dynamics damping="0.2" friction="0" />
+  </joint>
+  <transmission type="pr2_mechanism_model/SimpleTransmission" name="HANDLE-HINGE2_trans" >
+    <actuator name="HANDLE-HINGE2_motor" />
+    <joint name="HANDLE-HINGE2" />
+    <mechanicalReduction>1</mechanicalReduction>
+  </transmission>
+  <gazebo reference="HANDLE-HINGE2">
+    <cfmDamping>0.4</cfmDamping>
+  </gazebo>
+</robot>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index 798ef262..a6e43563 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -24,5 +24,6 @@
     <uri>file://drcbox-valve-bar-0</uri>
     <uri>file://drcbox-valve-large-0</uri>
     <uri>file://drcbox-valve-small-0</uri>
+    <uri>file://basket</uri>
   </models>
 </database>
diff --git a/worlds/table_basket.world b/worlds/table_basket.world
new file mode 100644
index 00000000..e0fa141f
--- /dev/null
+++ b/worlds/table_basket.world
@@ -0,0 +1,43 @@
+<?xml version="1.0" ?>
+<!-- This is a source file of world. -->
+<!-- Do not edit this file. -->
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- A robot -->
+    <!-- Objects -->
+    <include>
+      <uri>model://basket</uri>
+      <pose>0.8 0.0 1.0 0.0 0.0 0.0</pose>
+    </include>
+    <include>
+      <uri>model://vrc_table</uri>
+      <pose>1.0 0.0 -0.3 0.0 0.0 1.5708</pose>
+    </include>
+  </world>
+</sdf>

From e9fd4ca0c6f7f5ea71741b255c7d5e2cb36b2987 Mon Sep 17 00:00:00 2001
From: YoheiKakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 23 May 2014 17:57:21 +0900
Subject: [PATCH 286/306] update for publishing joint states

---
 config/HRP3HAND_L.yaml | 3 +++
 config/HRP3HAND_R.yaml | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/config/HRP3HAND_L.yaml b/config/HRP3HAND_L.yaml
index 2f484d6d..adaab3f7 100644
--- a/config/HRP3HAND_L.yaml
+++ b/config/HRP3HAND_L.yaml
@@ -1,4 +1,7 @@
 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
diff --git a/config/HRP3HAND_R.yaml b/config/HRP3HAND_R.yaml
index 370b3097..cc3acd25 100644
--- a/config/HRP3HAND_R.yaml
+++ b/config/HRP3HAND_R.yaml
@@ -1,4 +1,7 @@
 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

From 06e5bd860803518353e2e6ca3fa4598678a23e8e Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 22 Jun 2014 15:22:38 +0900
Subject: [PATCH 287/306] add additional tags by xacro instead of sed. tune
 foot contact parameter.

---
 robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro   | 44 +++++++++++++++++++
 .../HRP2JSKNT_optional_urdf_setting.sh        | 22 +++-------
 robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro | 44 +++++++++++++++++++
 .../HRP2JSKNTS_optional_urdf_setting.sh       | 22 +++-------
 4 files changed, 102 insertions(+), 30 deletions(-)

diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
index 2ecaa59c..c78e7b18 100644
--- a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
@@ -2,6 +2,50 @@
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT_only_body.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">
+      <robotname>HRP2JSKNT</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+  <!-- add imu sensor -->
+  <gazebo reference="CHEST_LINK1">
+    <sensor name="waist_imu" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <!-- add force sensor -->
+  <gazebo reference="LLEG_JOINT5">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RLEG_JOINT5">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="LARM_JOINT6">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RARM_JOINT6">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
   <!-- add Kinect plugin, link and joint without visual and collision -->
   <joint name="xtion_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
index 2d274e15..4369ba24 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
@@ -8,25 +8,19 @@ trap error ERR
 OUTPUT_FILE=$1
 ADDITIONAL_ROS_PACKAGE_PATH=$2
 export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
-## add Plugin settings
-##
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNT</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
-## add IMU sensor (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
-## add force sensors (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
 # overwrite mass and inertia which have invalid settings.
 sed -i -e 's@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
 sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
 
 ## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 
 # ## change foot geometry mesh -> box
 # sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
@@ -41,19 +35,17 @@ L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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 "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
 L_END=`expr ${L_START} + ${L_END} - 1`
 sed -i -e "${L_START},${L_END}d" ${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="1000.0"@g' ${OUTPUT_FILE}
 sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
 
-
 # generate URDF with xacro
 cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
 rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
index 992de9e0..f04a2e41 100644
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
@@ -2,6 +2,50 @@
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS_only_body.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">
+      <robotname>HRP2JSKNT</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+  <!-- add imu sensor -->
+  <gazebo reference="CHEST_LINK1">
+    <sensor name="waist_imu" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <!-- add force sensor -->
+  <gazebo reference="LLEG_JOINT5">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RLEG_JOINT5">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="LARM_JOINT6">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RARM_JOINT6">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
   <!-- add Kinect plugin, link and joint without visual and collision -->
   <joint name="xtion_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0.1120 0.0 0.1255"/>
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
index e9b599be..88357fd3 100755
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
@@ -8,25 +8,19 @@ trap error ERR
 OUTPUT_FILE=$1
 ADDITIONAL_ROS_PACKAGE_PATH=$2
 export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
-## add Plugin settings
-##
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSKNTS</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
+
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
 
-## add IMU sensor (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
-## add force sensors (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
 # overwrite mass and inertia which have invalid settings.
 sed -i -e 's@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
 sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
 
 ## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 
 # ## change foot geometry mesh -> box
 # sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
@@ -41,19 +35,17 @@ L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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 "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
 L_END=`expr ${L_START} + ${L_END} - 1`
 sed -i -e "${L_START},${L_END}d" ${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="1000.0"@g' ${OUTPUT_FILE}
 sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
 
-
 # generate URDF with xacro
 cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
 rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}

From 0da7e7212222eadbf76cc3309b7f0249fcfbd40e Mon Sep 17 00:00:00 2001
From: Shunichi Nozawa <notheworld@gmail.com>
Date: Wed, 25 Jun 2014 02:17:45 +0900
Subject: [PATCH 288/306] (*_hrpsys_bringup.launch) : Use --use-unstable-rtc
 for hrpsys py arguments according to this discussion
 https://github.com/start-jsk/rtmros_gazebo/pull/61

---
 launch/hrp2jsk_hrpsys_bringup.launch     | 2 +-
 launch/hrp2jsknt_hrpsys_bringup.launch   | 2 +-
 launch/hrp2jsknts_hrpsys_bringup.launch  | 2 +-
 launch/robot_hrpsys_bringup.launch       | 5 ++---
 launch/samplerobot_hrpsys_bringup.launch | 2 +-
 launch/staro_hrpsys_bringup.launch       | 2 +-
 6 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index 146f5bd3..1e936e23 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -16,6 +16,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSK" />
     <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="HRPSYS_PY_NAME" value="hrp2jsk_unstable_hrpsys_config.py" />
+    <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
 </launch>
diff --git a/launch/hrp2jsknt_hrpsys_bringup.launch b/launch/hrp2jsknt_hrpsys_bringup.launch
index 5050ac19..5aa7ad2e 100644
--- a/launch/hrp2jsknt_hrpsys_bringup.launch
+++ b/launch/hrp2jsknt_hrpsys_bringup.launch
@@ -19,6 +19,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
     <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="HRPSYS_PY_NAME" value="hrp2jsknt_unstable_hrpsys_config.py" />
+    <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
 </launch>
diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
index 44bd2e71..aa5a64a8 100644
--- a/launch/hrp2jsknts_hrpsys_bringup.launch
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -19,6 +19,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
     <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="HRPSYS_PY_NAME" value="hrp2jsknts_unstable_hrpsys_config.py" />
+    <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
 </launch>
diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
index c4565191..ba9274b6 100644
--- a/launch/robot_hrpsys_bringup.launch
+++ b/launch/robot_hrpsys_bringup.launch
@@ -7,7 +7,7 @@
   <!-- ROBOT instance name (name_space) -->
   <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
   <arg name="USE_INSTANCE_NAME" default="false" />
-  <arg name="HRPSYS_PY_NAME" default="robot_unstable_hrpsys_config.py" />
+  <arg name="HRPSYS_PY_ARGS" default="" />
   <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)" />
   <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).conf" />
 
@@ -43,8 +43,7 @@
     <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
     <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
     <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <arg name="HRPSYS_PY_PKG" default="hrpsys_ros_bridge_tutorials" />
-    <arg name="HRPSYS_PY_NAME" default="$(arg HRPSYS_PY_NAME)" />
+    <arg name="HRPSYS_PY_ARGS" default="$(arg HRPSYS_PY_ARGS)" />
     <arg name="hrpsys_periodic_rate" value="$(arg HRPSYS_RATE)" />
     <!--arg name="RTCD_LAUNCH_PREFIX" value="xterm -e gdb ++args" /-->
   </include>
diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index 9e1bd0f6..d1294f14 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -20,6 +20,6 @@
     <arg name="ROBOT_TYPE" value="SampleRobot" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
-    <arg name="HRPSYS_PY_NAME" value="samplerobot_unstable_hrpsys_config.py" />
+    <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
 </launch>
diff --git a/launch/staro_hrpsys_bringup.launch b/launch/staro_hrpsys_bringup.launch
index 7082fef8..118646a4 100644
--- a/launch/staro_hrpsys_bringup.launch
+++ b/launch/staro_hrpsys_bringup.launch
@@ -5,6 +5,6 @@
   <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="STARO" />
     <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="HRPSYS_PY_NAME" value="staro_unstable_hrpsys_config.py" />
+    <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
 </launch>

From 8948f785874c6d418e4b81406f00f71678a280ec Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 27 Jun 2014 19:35:22 +0900
Subject: [PATCH 289/306] added sandia-hand-command-publiser.l

---
 euslisp/hand-command-publisher.l | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index c2c33707..0433e787 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -103,8 +103,8 @@
 	  (right-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)
+       (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)))

From ba9af05f3c11eb2de80ae240cd779339590cb6eb Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 2 Jul 2014 02:49:37 +0900
Subject: [PATCH 290/306] deleted collada_urdf_jsk_patch path from depends for
 generating urdf model

---
 catkin.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/catkin.cmake b/catkin.cmake
index 424d07ca..cf717044 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -45,7 +45,7 @@ macro (generate_gazebo_urdf_file _robot_name)
   # this dependency means that run install_robot_common.sh after executing all of ${compile_robots}.
     add_custom_command(OUTPUT ${_out_urdf_file}
       COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
-      DEPENDS ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_out_dir}/hrpsys ${_out_dir}/meshes ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${compile_robots})
+      DEPENDS ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_out_dir}/hrpsys ${_out_dir}/meshes ${compile_robots})
   add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
   set(ROBOT ${_robot_name})
   string(TOLOWER ${_robot_name} _sname)

From 3451f69a0f49033666cf3568a2eafdf3f5f970a2 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 16 Jul 2014 07:00:32 +0900
Subject: [PATCH 291/306] call run_gazebo under drcsim when drcsim is
 installed.

---
 launch/gazebo_robot_no_controllers.launch |  8 +++----
 scripts/gazebo                            | 28 ++++-------------------
 scripts/gzclient                          | 16 ++++---------
 scripts/gzserver                          | 22 ++++--------------
 4 files changed, 19 insertions(+), 55 deletions(-)

diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
index d385ab53..bb05b9a6 100644
--- a/launch/gazebo_robot_no_controllers.launch
+++ b/launch/gazebo_robot_no_controllers.launch
@@ -22,11 +22,11 @@
        name="paused" value="" />
 
   <group unless="$(arg LOOPBACK)" >
-  <param name="/use_sim_time" type="bool" value="true"/>
+    <param name="/use_sim_time" type="bool" value="true"/>
 
-  <!-- start gazebo with the hrpsys_gazebo -->
-  <!-- <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" /> -->
-  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
+    <!-- start gazebo with the hrpsys_gazebo -->
+    <!-- <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" /> -->
+    <node name="gazebo" pkg="hrpsys_gazebo_tutorials" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
   </group>
 
   <group if="$(arg USE_INSTANCE_NAME)"
diff --git a/scripts/gazebo b/scripts/gazebo
index 0081e316..916bc630 100755
--- a/scripts/gazebo
+++ b/scripts/gazebo
@@ -1,26 +1,8 @@
 #!/bin/bash
-final="$@"
 
-# add ros path plugin if it does not already exist in the passed in arguments
-if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ]
-then
-    final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
+rospack find drcsim_gazebo 2> /dev/null
+if [ $? -eq 0 ]; then
+    rosrun drcsim_gazebo run_gazebo $@
+else
+    rosrun gazebo_ros gazebo $@
 fi
-
-# add ros api plugin if it does not already exist in the passed in arguments
-if [ `expr "$final" : '.*libgazebo\_ros\_api\_plugin\.so.*'` -eq 0 ]
-then
-    final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`"
-fi
-
-client_final="-g `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
-
-# Combine the commands
-setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
-. $setup_path/setup.sh
-. $(rospack find hrpsys_gazebo_tutorials)/setup.sh
-gzserver $final &
-gzclient $client_final
-
-# Kill the server
-kill -s SIGINT $!
diff --git a/scripts/gzclient b/scripts/gzclient
index a7f42417..229a3120 100755
--- a/scripts/gzclient
+++ b/scripts/gzclient
@@ -1,14 +1,8 @@
 #!/bin/bash
-final="$@"
 
-# add ros plugin if does not exist
-if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ]
-then
-    final="$final -g `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
+rospack find drcsim_gazebo 2> /dev/null
+if [ $? -eq 0 ]; then
+    rosrun drcsim_gazebo run_gzclient $@
+else
+    rosrun gazebo_ros gzclient $@
 fi
-
-# Combine the commands
-setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
-. $setup_path/setup.sh
-. $(rospack find hrpsys_gazebo_tutorials)/setup.sh
-gzclient $final
diff --git a/scripts/gzserver b/scripts/gzserver
index 9f19d810..192757ee 100755
--- a/scripts/gzserver
+++ b/scripts/gzserver
@@ -1,20 +1,8 @@
 #!/bin/bash
-final="$@"
 
-# add ros path plugin if it does not already exist in the passed in arguments
-if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ]
-then
-    final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`"
+rospack find drcsim_gazebo 2> /dev/null
+if [ $? -eq 0 ]; then
+    rosrun drcsim_gazebo run_gzserver $@
+else
+    rosrun gazebo_ros gzserver $@
 fi
-
-# add ros api plugin if it does not already exist in the passed in arguments
-if [ `expr "$final" : '.*libgazebo\_ros\_api\_plugin\.so.*'` -eq 0 ]
-then
-    final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`"
-fi
-
-setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/
-. $setup_path/setup.sh
-. $(rospack find hrpsys_gazebo_tutorials)/setup.sh
-gzserver $final
-

From 2e045b3cdbf0a2b15231c4b9a7de9caea70090fb Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 31 Jul 2014 21:39:06 +0900
Subject: [PATCH 292/306] use pkg_check_modules instead of find_package for
 changed collada_urdf_jsk_patch

---
 catkin.cmake | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/catkin.cmake b/catkin.cmake
index cf717044..29faabc6 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -1,17 +1,17 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
-find_package(catkin REQUIRED COMPONENTS collada_urdf_jsk_patch euscollada hrpsys_ros_bridge hrpsys_ros_bridge_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(
     DEPENDS
-    CATKIN_DEPENDS collada_urdf_jsk_patch euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
+    CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
     INCLUDE_DIRS # TODO include
     LIBRARIES # TODO
 )

From 06d80e6506812c7652c368c3c8ae7a5bb14d2a37 Mon Sep 17 00:00:00 2001
From: jskuser <jskuser@jskuser-rosvm.(none)>
Date: Thu, 31 Jul 2014 22:05:06 +0900
Subject: [PATCH 293/306] fix launching gzserver and gzclient.

---
 launch/gazebo_simplebox.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/gazebo_simplebox.launch b/launch/gazebo_simplebox.launch
index 97554f88..98cf10ef 100644
--- a/launch/gazebo_simplebox.launch
+++ b/launch/gazebo_simplebox.launch
@@ -3,6 +3,6 @@
   <arg name="WORLD" default="SimpleBox.world"/>
 
 
-  <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
+  <node name="gazebo" pkg="hrpsys_gazebo_tutorials" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
 
 </launch>

From f171b187b3cc29f2d23bc1516ccc531966c8f0f3 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 31 Jul 2014 21:42:52 +0900
Subject: [PATCH 294/306] generate urdf models for gazebo, in which mesh file
 is included by model://

---
 robot_models/HRP2JSK/model.config     |  2 +-
 robot_models/HRP2JSKNT/model.config   |  2 +-
 robot_models/HRP2JSKNTS/model.config  |  2 +-
 robot_models/HRP3HAND_L/model.config  |  2 +-
 robot_models/HRP3HAND_R/model.config  |  2 +-
 robot_models/HRP4C/model.config       |  2 +-
 robot_models/STARO/model.config       |  2 +-
 robot_models/SampleRobot/model.config |  2 +-
 robot_models/install_robot_common.sh  | 10 +++-------
 9 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/robot_models/HRP2JSK/model.config b/robot_models/HRP2JSK/model.config
index 4a36e1f2..93e0471e 100644
--- a/robot_models/HRP2JSK/model.config
+++ b/robot_models/HRP2JSK/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP2JSK.urdf</sdf>
+  <sdf>HRP2JSK_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/HRP2JSKNT/model.config b/robot_models/HRP2JSKNT/model.config
index 8c17ae18..7b9c3305 100644
--- a/robot_models/HRP2JSKNT/model.config
+++ b/robot_models/HRP2JSKNT/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP2JSKNT.urdf</sdf>
+  <sdf>HRP2JSKNT_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/HRP2JSKNTS/model.config b/robot_models/HRP2JSKNTS/model.config
index 6aa08846..a9b1dee2 100644
--- a/robot_models/HRP2JSKNTS/model.config
+++ b/robot_models/HRP2JSKNTS/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP2JSKNTS.urdf</sdf>
+  <sdf>HRP2JSKNTS_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/HRP3HAND_L/model.config b/robot_models/HRP3HAND_L/model.config
index 00c72055..eb651ea2 100644
--- a/robot_models/HRP3HAND_L/model.config
+++ b/robot_models/HRP3HAND_L/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP3HAND_L.urdf</sdf>
+  <sdf>HRP3HAND_L_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/HRP3HAND_R/model.config b/robot_models/HRP3HAND_R/model.config
index 3c86e7bb..b090fecf 100644
--- a/robot_models/HRP3HAND_R/model.config
+++ b/robot_models/HRP3HAND_R/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP3HAND_R.urdf</sdf>
+  <sdf>HRP3HAND_R_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/HRP4C/model.config b/robot_models/HRP4C/model.config
index 8cece5d9..f7a416ff 100644
--- a/robot_models/HRP4C/model.config
+++ b/robot_models/HRP4C/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>HRP4C.urdf</sdf>
+  <sdf>HRP4C_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/STARO/model.config b/robot_models/STARO/model.config
index 1f4c9e40..e3f8169b 100644
--- a/robot_models/STARO/model.config
+++ b/robot_models/STARO/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>STARO.urdf</sdf>
+  <sdf>STARO_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/SampleRobot/model.config b/robot_models/SampleRobot/model.config
index 388d18cf..4b64797f 100644
--- a/robot_models/SampleRobot/model.config
+++ b/robot_models/SampleRobot/model.config
@@ -6,7 +6,7 @@
     <name>Yohei Kakiuchi</name>
     <email>youhei@jsk.t.u-tokyo.ac.jp</email>
   </author>
-  <sdf>SampleRobot.urdf</sdf>
+  <sdf>SampleRobot_for_gazebo.urdf</sdf>
   <description>
     auto generated file ...
   </description>
diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
index 48c63fb5..352018fc 100755
--- a/robot_models/install_robot_common.sh
+++ b/robot_models/install_robot_common.sh
@@ -35,6 +35,7 @@ else
 fi
 
 OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
+OUTPUT_FILE2=${OUTPUT_DIR}/${ROBOT_NAME}_for_gazebo.urdf
 SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
 
 if [ ! -e ${INPUT_DIR}/${ROBOT_NAME}.dae ]; then
@@ -42,16 +43,11 @@ if [ ! -e ${INPUT_DIR}/${ROBOT_NAME}.dae ]; then
     exit 0
 fi
 if [ ! -e ${OUTPUT_FILE} ]; then
-##
     mkdir -p ${OUTPUT_DIR}/meshes
     ${COLLADA_TO_URDF} ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    # if [ ${ROS_DISTRO} == "groovy" ]; then
-    # 	rosrun collada_tools collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    # elif [ ${ROS_DISTRO} == "hydro" ]; then
-    # 	rosrun collada_urdf collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    # fi
-## execute sed
     ${SED_SCRIPT_FILE} ${OUTPUT_FILE} ${ADDITIONAL_ROS_PACKAGE_PATH}
+    cp ${OUTPUT_FILE} ${OUTPUT_FILE2} -f
+    sed -i -e "s@package://hrpsys_gazebo_tutorials/robot_models/@model://@g" ${OUTPUT_FILE2}
 fi
 
 if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then

From da44aaf54af6dc3af21cdf07e496cae1dcf60b70 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 2 Sep 2014 14:20:44 +0900
Subject: [PATCH 295/306] fix robotname HRP2JSKNT -> HRP2JSKNTS in
 HRP2JSKNTS.urdf

---
 robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
index f04a2e41..68d8a9ca 100644
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
@@ -5,7 +5,7 @@
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">
-      <robotname>HRP2JSKNT</robotname>
+      <robotname>HRP2JSKNTS</robotname>
       <controller>hrpsys_gazebo_configuration</controller>
     </plugin>
   </gazebo>

From f25614a5f015bd18d8525f8744be145ebe65da2e Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 3 Sep 2014 02:48:34 +0900
Subject: [PATCH 296/306] generate world file before converting model because
 model sometimes moves in converting process(?).

---
 euslisp/hrpsys-gazebo-utils.l | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/euslisp/hrpsys-gazebo-utils.l b/euslisp/hrpsys-gazebo-utils.l
index ad941249..31e3e87c 100644
--- a/euslisp/hrpsys-gazebo-utils.l
+++ b/euslisp/hrpsys-gazebo-utils.l
@@ -64,6 +64,13 @@
 	  (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@    <!-- Objects -->@    <!-- Objects -->\\n    <include>\\n      <uri>model://~a_static</uri>\\n      <pose>~a ~a</pose>\\n    </include>@g\" ~a" obj-name pos-string rpy-string world-file-path))))
 	;; convert the model
 	(eus2urdf-for-gazebo obj obj-name)
 	;; make the static model
@@ -72,13 +79,6 @@
 	;; 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)))
-	(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@    <!-- Objects -->@    <!-- Objects -->\\n    <include>\\n      <uri>model://~a_static</uri>\\n      <pose>~a ~a</pose>\\n    </include>@g\" ~a" obj-name pos-string rpy-string world-file-path))))
 	))
     ;; generate the model database file
     (unix:system (format nil "rosrun hrpsys_gazebo_tutorials generate_model_database.py"))

From 2a13acd12abc2207533dd17c5ccde3fa6e077452 Mon Sep 17 00:00:00 2001
From: s-noda <s-noda@jsk.t.u-tokyo.ac.jp>
Date: Sun, 14 Sep 2014 08:38:46 +0900
Subject: [PATCH 297/306] fix angle order and support vector format
 hand-angle-vector

---
 euslisp/hand-command-publisher.l | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index 0433e787..4bfbebf1 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -99,8 +99,14 @@
    )
   (:send-command
    (av-list)
-   (let* ((left-av (elt av-list 0))
-	  (right-av (elt av-list 1)))
+   (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))))

From 0a8d595c5c4452d9f1eaf8f5103fc3c514c51f15 Mon Sep 17 00:00:00 2001
From: s-noda <s-noda@jsk.t.u-tokyo.ac.jp>
Date: Thu, 18 Sep 2014 03:45:29 +0900
Subject: [PATCH 298/306] fix length of hand-angle-vector

---
 euslisp/hand-command-publisher.l | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index 4bfbebf1..71525cb2 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -102,8 +102,8 @@
    (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))))
+       (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))))

From c5b58eed3897822b539239728590b25d56af7898 Mon Sep 17 00:00:00 2001
From: s-noda <s-noda@jsk.t.u-tokyo.ac.jp>
Date: Thu, 18 Sep 2014 03:45:29 +0900
Subject: [PATCH 299/306] fix length of hand-angle-vector

---
 euslisp/hand-command-publisher.l | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/euslisp/hand-command-publisher.l b/euslisp/hand-command-publisher.l
index 4bfbebf1..71525cb2 100644
--- a/euslisp/hand-command-publisher.l
+++ b/euslisp/hand-command-publisher.l
@@ -102,8 +102,8 @@
    (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))))
+       (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))))

From 2324bbf7a85573ea9fa689bf745c2ac7ad2d15d4 Mon Sep 17 00:00:00 2001
From: s-noda <s-noda@jsk.t.u-tokyo.ac.jp>
Date: Mon, 22 Sep 2014 01:03:16 +0900
Subject: [PATCH 300/306] soften hrp3 hand. good for grasping

---
 .../HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh     |  8 ++++++++
 .../HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh     | 10 ++++++++++
 2 files changed, 18 insertions(+)

diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
index 607507e0..cd0cea7b 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
@@ -19,4 +19,12 @@ do
   sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
 
+sed -i -e '/<gazebo reference="L_INDEXMP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXMP_P_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXMPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_MIDDLEPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_MIDDLEPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_THUMBCM_Y_LINK">/{N;N;N;N;s@  <gazebo reference="L_THUMBCM_Y_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_THUMBCM_P_LINK">/{N;N;N;N;s@  <gazebo reference="L_THUMBCM_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXMP_R">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_R">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_R">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
index da207c06..9f5665b2 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
@@ -18,3 +18,13 @@ for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:`
 do
   sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
+
+sed -i -e '/<gazebo reference="R_INDEXMP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="R_INDEXMP_P_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="R_INDEXMPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="R_MIDDLEPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_MIDDLEPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="R_THUMBCM_Y_LINK">/{N;N;N;N;s@  <gazebo reference="R_THUMBCM_Y_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="R_THUMBCM_P_LINK">/{N;N;N;N;s@  <gazebo reference="R_THUMBCM_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="R_INDEXMP_R">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_R">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_R">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="R_INDEXPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+

From 4b6390efb7754259816388aab199385701e5d112 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 25 Sep 2014 00:09:01 +0900
Subject: [PATCH 301/306] added model and world files for debris test

---
 environment_models/drc_debris/model.config | 10 ++++++
 environment_models/drc_debris/model.urdf   | 28 +++++++++++++++
 environment_models/manifest.xml            |  1 +
 worlds/HRP2JSKNT_debris.world              | 40 ++++++++++++++++++++++
 4 files changed, 79 insertions(+)
 create mode 100644 environment_models/drc_debris/model.config
 create mode 100644 environment_models/drc_debris/model.urdf
 create mode 100644 worlds/HRP2JSKNT_debris.world

diff --git a/environment_models/drc_debris/model.config b/environment_models/drc_debris/model.config
new file mode 100644
index 00000000..5865755a
--- /dev/null
+++ b/environment_models/drc_debris/model.config
@@ -0,0 +1,10 @@
+<?xml version='1.0'?>
+<model>
+  <name>drc_debris</name>
+  <version>0.1.0</version>
+  <sdf>model.urdf</sdf>
+  <description>
+     This model was automatically generated by converting the eus model.
+  </description>
+</model>
+
diff --git a/environment_models/drc_debris/model.urdf b/environment_models/drc_debris/model.urdf
new file mode 100644
index 00000000..78800a1e
--- /dev/null
+++ b/environment_models/drc_debris/model.urdf
@@ -0,0 +1,28 @@
+<robot name="drc_debris">
+  <link name="nil_link">
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="200" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 1.0" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 1.0" />
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="nil_link">
+    <material>Gazebo/Blue</material>
+  </gazebo>
+  <gazebo reference="nil_link">
+    <mu1>2.0</mu1>
+    <mu2>2.0</mu2>
+  </gazebo>
+</robot>
diff --git a/environment_models/manifest.xml b/environment_models/manifest.xml
index a6e43563..7fb370f0 100644
--- a/environment_models/manifest.xml
+++ b/environment_models/manifest.xml
@@ -25,5 +25,6 @@
     <uri>file://drcbox-valve-large-0</uri>
     <uri>file://drcbox-valve-small-0</uri>
     <uri>file://basket</uri>
+    <uri>file://drc_debris</uri>
   </models>
 </database>
diff --git a/worlds/HRP2JSKNT_debris.world b/worlds/HRP2JSKNT_debris.world
new file mode 100644
index 00000000..d51bdeec
--- /dev/null
+++ b/worlds/HRP2JSKNT_debris.world
@@ -0,0 +1,40 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- Objects -->
+    <include>
+      <uri>model://drc_debris</uri>
+      <pose>0.8 0.0 1.0 0.0 0.0 0.0</pose>
+    </include>
+    <include>
+      <uri>model://HRP2JSKNT</uri>
+      <pose>0 0 0.73 0 0 0</pose>
+    </include>
+  </world>
+</sdf>

From 0294e8a1d81b5d0a100e616d8235919f8365b4bf Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Fri, 26 Sep 2014 15:53:21 +0900
Subject: [PATCH 302/306] 0.1.1

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index 42732c24..bbe75522 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>hrpsys_gazebo_tutorials</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>hrpsys_gazebo_tutorials</description>
   <maintainer email="youhei@jsk.t.u-tokyo.ac.jp">Yohei Kakiuchi</maintainer>
   <license>BSD</license>

From aa4b49b5b96f7ac3d179aa4746d1a8aef0788b45 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 6 Oct 2014 11:35:09 +0900
Subject: [PATCH 303/306] 0.1.2

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index bbe75522..4ddbf3c7 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>hrpsys_gazebo_tutorials</name>
-  <version>0.1.1</version>
+  <version>0.1.2</version>
   <description>hrpsys_gazebo_tutorials</description>
   <maintainer email="youhei@jsk.t.u-tokyo.ac.jp">Yohei Kakiuchi</maintainer>
   <license>BSD</license>

From 2349e3c007cf324b5cbfe9a419cc5f4bc2dfee27 Mon Sep 17 00:00:00 2001
From: Kei Okada <kei.okada@gmail.com>
Date: Sun, 12 Oct 2014 14:07:28 +0900
Subject: [PATCH 304/306] 0.1.3

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index 4ddbf3c7..ad4eeb8e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>hrpsys_gazebo_tutorials</name>
-  <version>0.1.2</version>
+  <version>0.1.3</version>
   <description>hrpsys_gazebo_tutorials</description>
   <maintainer email="youhei@jsk.t.u-tokyo.ac.jp">Yohei Kakiuchi</maintainer>
   <license>BSD</license>

From 342e1d4b761d712bcabdca56fef788fcc5c7e162 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 12 Oct 2014 11:38:35 +0900
Subject: [PATCH 305/306] deletece unnecessary file. added xacro file

---
 catkin.cmake                                  | 67 +++++----------
 launch/gazebo_HRP4C_no_controllers.launch     | 17 ----
 launch/gazebo_hrp2jsk_no_controllers.launch   | 13 +--
 launch/gazebo_hrp2jsknt_no_controllers.launch | 23 +++---
 .../gazebo_hrp2jsknts_no_controllers.launch   | 23 +++---
 .../gazebo_hrp3hand_l_no_controllers.launch   | 18 ++++
 .../gazebo_hrp3hand_r_no_controllers.launch   | 18 ++++
 launch/gazebo_robot_no_controllers.launch     | 63 --------------
 .../gazebo_samplerobot_no_controllers.launch  | 13 +--
 launch/gazebo_simplebox.launch                |  3 +-
 launch/gazebo_staro_no_controllers.launch     | 13 +--
 launch/hrp2jsk_hrpsys_bringup.launch          |  3 +-
 launch/hrp2jsknt_hrpsys_bringup.launch        |  6 +-
 launch/hrp2jsknts_hrpsys_bringup.launch       |  5 +-
 ...P4C.launch => hrp4c_hrpsys_bringup.launch} |  3 +-
 launch/robot_hrpsys_bringup.launch            | 68 ---------------
 launch/samplerobot_hrpsys_bringup.launch      |  3 +-
 launch/staro_hrpsys_bringup.launch            |  8 +-
 robot_models/HRP2JSK/HRP2JSK.urdf.xacro       | 47 +++++++++++
 ....sh => HRP2JSK_additional_urdf_setting.sh} | 11 ---
 robot_models/HRP2JSK/model.config             | 13 ---
 robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro   |  6 +-
 ...h => HRP2JSKNT_additional_urdf_setting.sh} | 20 -----
 robot_models/HRP2JSKNT/model.config           | 13 ---
 robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro |  6 +-
 ... => HRP2JSKNTS_additional_urdf_setting.sh} | 20 -----
 robot_models/HRP2JSKNTS/model.config          | 13 ---
 robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro | 10 +++
 ... => HRP3HAND_L_additional_urdf_setting.sh} |  6 --
 robot_models/HRP3HAND_L/model.config          | 13 ---
 robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro | 10 +++
 ... => HRP3HAND_R_additional_urdf_setting.sh} | 22 ++---
 robot_models/HRP3HAND_R/model.config          | 13 ---
 robot_models/HRP4C/HRP4C.urdf.xacro           | 10 +++
 .../HRP4C/HRP4C_additional_urdf_setting.sh    |  8 ++
 .../HRP4C/HRP4C_optional_urdf_setting.sh      | 29 -------
 robot_models/HRP4C/model.config               | 13 ---
 robot_models/STARO/STARO.urdf.xacro           | 34 ++++++++
 .../STARO/STARO_additional_urdf_setting.sh    | 14 ++++
 .../STARO/STARO_optional_urdf_setting.sh      | 20 -----
 robot_models/STARO/model.config               | 13 ---
 .../SampleRobot/SampleRobot.urdf.xacro        | 47 +++++++++++
 .../SampleRobot_additional_urdf_setting.sh    | 17 ++++
 .../SampleRobot_optional_urdf_setting.sh      | 23 ------
 robot_models/SampleRobot/model.config         | 13 ---
 robot_models/install_robot_common.sh          | 59 -------------
 robot_models/manifest.xml                     | 13 ---
 ...ault_gazebo_robot_no_controllers.launch.in | 15 ----
 .../default_robot_hrpsys_bringup.launch.in    | 11 ---
 scripts/gazebo                                |  8 --
 scripts/gzclient                              |  8 --
 scripts/gzserver                              |  8 --
 setup.sh                                      | 13 ++-
 worlds/HRP2JSK.world                          | 35 --------
 worlds/HRP2JSKNT.world                        | 35 --------
 worlds/HRP2JSKNTS.world                       | 35 --------
 worlds/HRP2JSKNT_debris.world                 | 40 ---------
 worlds/HRP2JSK_cupboard.world                 | 41 ----------
 worlds/STARO.world                            | 35 --------
 worlds/SampleRobot.world                      | 35 --------
 worlds/SampleRobot_cupboard.world             | 39 ---------
 worlds/SimpleBox.world                        |  1 +
 worlds/drc_sample.world                       | 82 -------------------
 worlds/drcbox.world                           |  1 -
 worlds/table_basket.world                     |  1 -
 worlds/world_source.world                     | 35 --------
 66 files changed, 337 insertions(+), 1044 deletions(-)
 delete mode 100644 launch/gazebo_HRP4C_no_controllers.launch
 create mode 100644 launch/gazebo_hrp3hand_l_no_controllers.launch
 create mode 100644 launch/gazebo_hrp3hand_r_no_controllers.launch
 delete mode 100644 launch/gazebo_robot_no_controllers.launch
 rename launch/{hrpsys_bring_up_HRP4C.launch => hrp4c_hrpsys_bringup.launch} (69%)
 delete mode 100644 launch/robot_hrpsys_bringup.launch
 create mode 100644 robot_models/HRP2JSK/HRP2JSK.urdf.xacro
 rename robot_models/HRP2JSK/{HRP2JSK_optional_urdf_setting.sh => HRP2JSK_additional_urdf_setting.sh} (50%)
 delete mode 100644 robot_models/HRP2JSK/model.config
 rename robot_models/HRP2JSKNT/{HRP2JSKNT_optional_urdf_setting.sh => HRP2JSKNT_additional_urdf_setting.sh} (63%)
 delete mode 100644 robot_models/HRP2JSKNT/model.config
 rename robot_models/HRP2JSKNTS/{HRP2JSKNTS_optional_urdf_setting.sh => HRP2JSKNTS_additional_urdf_setting.sh} (63%)
 delete mode 100644 robot_models/HRP2JSKNTS/model.config
 create mode 100644 robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro
 rename robot_models/HRP3HAND_L/{HRP3HAND_L_optional_urdf_setting.sh => HRP3HAND_L_additional_urdf_setting.sh} (92%)
 delete mode 100644 robot_models/HRP3HAND_L/model.config
 create mode 100644 robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro
 rename robot_models/HRP3HAND_R/{HRP3HAND_R_optional_urdf_setting.sh => HRP3HAND_R_additional_urdf_setting.sh} (53%)
 delete mode 100644 robot_models/HRP3HAND_R/model.config
 create mode 100644 robot_models/HRP4C/HRP4C.urdf.xacro
 create mode 100755 robot_models/HRP4C/HRP4C_additional_urdf_setting.sh
 delete mode 100755 robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
 delete mode 100644 robot_models/HRP4C/model.config
 create mode 100644 robot_models/STARO/STARO.urdf.xacro
 create mode 100755 robot_models/STARO/STARO_additional_urdf_setting.sh
 delete mode 100755 robot_models/STARO/STARO_optional_urdf_setting.sh
 delete mode 100644 robot_models/STARO/model.config
 create mode 100644 robot_models/SampleRobot/SampleRobot.urdf.xacro
 create mode 100755 robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh
 delete mode 100755 robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
 delete mode 100644 robot_models/SampleRobot/model.config
 delete mode 100755 robot_models/install_robot_common.sh
 delete mode 100644 robot_models/manifest.xml
 delete mode 100644 scripts/default_gazebo_robot_no_controllers.launch.in
 delete mode 100644 scripts/default_robot_hrpsys_bringup.launch.in
 delete mode 100755 scripts/gazebo
 delete mode 100755 scripts/gzclient
 delete mode 100755 scripts/gzserver
 delete mode 100644 worlds/HRP2JSK.world
 delete mode 100644 worlds/HRP2JSKNT.world
 delete mode 100644 worlds/HRP2JSKNTS.world
 delete mode 100644 worlds/HRP2JSKNT_debris.world
 delete mode 100644 worlds/HRP2JSK_cupboard.world
 delete mode 100644 worlds/STARO.world
 delete mode 100644 worlds/SampleRobot.world
 delete mode 100644 worlds/SampleRobot_cupboard.world
 delete mode 100644 worlds/drc_sample.world
 delete mode 100644 worlds/world_source.world

diff --git a/catkin.cmake b/catkin.cmake
index 29faabc6..3c7a4904 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -9,12 +9,7 @@ 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(
-    DEPENDS
-    CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
-    INCLUDE_DIRS # TODO include
-    LIBRARIES # TODO
-)
+catkin_package(CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
 
 if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
   execute_process(
@@ -23,48 +18,26 @@ if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
   string(REGEX REPLACE "\n" "" hrpsys_ros_bridge_tutorials_SOURCE_DIR ${hrpsys_ros_bridge_tutorials_SOURCE_DIR})
 endif()
 
-install(PROGRAMS robot_models/install_robot_common.sh 
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
+## 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(PROGRAMS scripts/gazebo scripts/gzclient scripts/gzserver scripts/eus2urdf_for_gazebo_pyscript.py scripts/generate_model_database.py scripts/make_fixed_model.py scripts/remove_all_added_models.py scripts/generate_room_world.py scripts/make_static_model.py scripts/remove_all_generated_files.py
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
-
-
-macro (generate_gazebo_urdf_file _robot_name)
-  set(_out_dir "${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)
-  message("urdf input -- ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/${_robot_name}.dae")
-  # ${compile_robots} is a global target used in compile_robot_model.cmake of hrpsys_ros_bridge.
-  # this dependency means that run install_robot_common.sh after executing all of ${compile_robots}.
-    add_custom_command(OUTPUT ${_out_urdf_file}
-      COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
-      DEPENDS ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_out_dir}/hrpsys ${_out_dir}/meshes ${compile_robots})
-  add_custom_target(${_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_urdf_robots ${_robot_name}_compile)
-  install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/ PATTERN ".svn" EXCLUDE)
-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_urdf_robots})
+install(DIRECTORY scripts DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
diff --git a/launch/gazebo_HRP4C_no_controllers.launch b/launch/gazebo_HRP4C_no_controllers.launch
deleted file mode 100644
index ff3223f0..00000000
--- a/launch/gazebo_HRP4C_no_controllers.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-<launch>
-  <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="worlds/empty.world"/>
-  <arg name="PAUSED" default="false"/>
-  <arg name="LOOPBACK" default="false" />
-
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
-    <arg name="gzname"      value="$(arg gzname)" />
-    <arg name="WORLD"       value="$(arg WORLD)" />
-    <arg name="PAUSED"      value="$(arg PAUSED)"/>
-    <arg name="ROBOT_TYPE"  value="HRP4C" />
-    <arg name="SPAWN_MODEL" value="true" />
-    <arg name="LOOPBACK"    value="$(arg LOOPBACK)" />
-
-    <arg name="MODEL_TRANSLATE_Z" value="0.8" />
-  </include>
-</launch>
diff --git a/launch/gazebo_hrp2jsk_no_controllers.launch b/launch/gazebo_hrp2jsk_no_controllers.launch
index 922cef8a..55333648 100644
--- a/launch/gazebo_hrp2jsk_no_controllers.launch
+++ b/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -1,17 +1,18 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSK.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSK" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
 </launch>
diff --git a/launch/gazebo_hrp2jsknt_no_controllers.launch b/launch/gazebo_hrp2jsknt_no_controllers.launch
index 308e5da6..8e86ff08 100644
--- a/launch/gazebo_hrp2jsknt_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknt_no_controllers.launch
@@ -1,22 +1,23 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSKNT.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
-
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
 </launch>
diff --git a/launch/gazebo_hrp2jsknts_no_controllers.launch b/launch/gazebo_hrp2jsknts_no_controllers.launch
index 41e4e4f8..119e6074 100644
--- a/launch/gazebo_hrp2jsknts_no_controllers.launch
+++ b/launch/gazebo_hrp2jsknts_no_controllers.launch
@@ -1,22 +1,23 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSKNTS.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
-
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
 </launch>
diff --git a/launch/gazebo_hrp3hand_l_no_controllers.launch b/launch/gazebo_hrp3hand_l_no_controllers.launch
new file mode 100644
index 00000000..c3fed97f
--- /dev/null
+++ b/launch/gazebo_hrp3hand_l_no_controllers.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP3HAND_L" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
+
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
+  </include>
+</launch>
diff --git a/launch/gazebo_hrp3hand_r_no_controllers.launch b/launch/gazebo_hrp3hand_r_no_controllers.launch
new file mode 100644
index 00000000..2ec0457d
--- /dev/null
+++ b/launch/gazebo_hrp3hand_r_no_controllers.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP3HAND_R" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
+
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
+  </include>
+</launch>
diff --git a/launch/gazebo_robot_no_controllers.launch b/launch/gazebo_robot_no_controllers.launch
deleted file mode 100644
index bb05b9a6..00000000
--- a/launch/gazebo_robot_no_controllers.launch
+++ /dev/null
@@ -1,63 +0,0 @@
-<launch>
-  <arg name="gzname" default="gazebo"/>
-  <arg name="ROBOT_TYPE" default="SampleRobot" />
-  <arg name="WORLD" default="$(arg ROBOT_TYPE).world" />
-  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/$(arg ROBOT_TYPE).yaml" />
-  <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)/$(arg ROBOT_TYPE).urdf" />
-  <arg name="PAUSED" default="false"/>
-  <arg name="SYNCHRONIZED" default="false" />
-  <arg name="USE_INSTANCE_NAME" default="false" />
-  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" /> <!-- ROBOT instance Name (name_space) -->
-
-  <arg name="LOOPBACK" default="false" />
-  <arg name="SPAWN_MODEL" default="false" />
-
-  <arg name="MODEL_TRANSLATE_X" default="0.0" />
-  <arg name="MODEL_TRANSLATE_Y" default="0.0" />
-  <arg name="MODEL_TRANSLATE_Z" default="1.0" />
-
-  <arg if="$(arg PAUSED)"
-       name="paused" value="_paused" />
-  <arg unless="$(arg PAUSED)"
-       name="paused" value="" />
-
-  <group unless="$(arg LOOPBACK)" >
-    <param name="/use_sim_time" type="bool" value="true"/>
-
-    <!-- start gazebo with the hrpsys_gazebo -->
-    <!-- <node name="gazebo" pkg="gazebo_ros" type="$(arg gzname)$(arg paused)" args="$(arg WORLD)" output="screen" /> -->
-    <node name="gazebo" pkg="hrpsys_gazebo_tutorials" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
-  </group>
-
-  <group if="$(arg USE_INSTANCE_NAME)"
-         ns="$(arg ROBOT_INSTANCE_NAME)" >
-    <!-- controller configuration -->
-    <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
-    <!-- setting for using synchronized iob -->
-    <param name="hrpsys_gazebo_configuration/use_synchronized_command"
-           value="$(arg SYNCHRONIZED)" />
-  </group>
-
-  <group unless="$(arg USE_INSTANCE_NAME)" >
-    <!-- controller configuration -->
-    <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
-    <!-- setting for using synchronized iob -->
-    <param name="hrpsys_gazebo_configuration/use_synchronized_command"
-           value="$(arg SYNCHRONIZED)" />
-  </group>
-
-  <!-- Robot Description -->
-  <param name="robot_description" textfile="$(arg ROBOT_MODEL)"/>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-
-  <node if="$(arg SPAWN_MODEL)"
-        name="spawn_robot_model" pkg="roseus" type="roseus"
-        args="&quot;$(find hrpsys_gazebo_tutorials)/euslisp/spawn_gazebo_model.l&quot;" >
-    <param name="robot_name" value="$(arg ROBOT_INSTANCE_NAME)" />
-    <param name="model_file" value="$(arg ROBOT_MODEL)" />
-    <param name="translate_x" value="$(arg MODEL_TRANSLATE_X)" />
-    <param name="translate_y" value="$(arg MODEL_TRANSLATE_Y)" />
-    <param name="translate_z" value="$(arg MODEL_TRANSLATE_Z)" />
-  </node>
-
-</launch>
diff --git a/launch/gazebo_samplerobot_no_controllers.launch b/launch/gazebo_samplerobot_no_controllers.launch
index c79a3254..bf0af94c 100644
--- a/launch/gazebo_samplerobot_no_controllers.launch
+++ b/launch/gazebo_samplerobot_no_controllers.launch
@@ -1,17 +1,18 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="SampleRobot.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="SampleRobot" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
 </launch>
diff --git a/launch/gazebo_simplebox.launch b/launch/gazebo_simplebox.launch
index 98cf10ef..4ed13ed8 100644
--- a/launch/gazebo_simplebox.launch
+++ b/launch/gazebo_simplebox.launch
@@ -2,7 +2,6 @@
   <arg name="gzname" default="gazebo"/>
   <arg name="WORLD" default="SimpleBox.world"/>
 
-
-  <node name="gazebo" pkg="hrpsys_gazebo_tutorials" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
+  <node name="gazebo" pkg="hrpsys_gazebo_general" type="$(arg gzname)" args="$(find hrpsys_gazebo_tutorials)/worlds/$(arg WORLD)" output="screen" />
 
 </launch>
diff --git a/launch/gazebo_staro_no_controllers.launch b/launch/gazebo_staro_no_controllers.launch
index 362e8325..22dd6bf4 100644
--- a/launch/gazebo_staro_no_controllers.launch
+++ b/launch/gazebo_staro_no_controllers.launch
@@ -1,17 +1,18 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="STARO.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="STARO" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/STARO.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/STARO.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
 </launch>
diff --git a/launch/hrp2jsk_hrpsys_bringup.launch b/launch/hrp2jsk_hrpsys_bringup.launch
index 1e936e23..8e288cbe 100644
--- a/launch/hrp2jsk_hrpsys_bringup.launch
+++ b/launch/hrp2jsk_hrpsys_bringup.launch
@@ -13,8 +13,9 @@
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_4"
         args="0 0 0 0 0 0 /CHEST_LINK1 gyrometer 100" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSK" />
+    <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
diff --git a/launch/hrp2jsknt_hrpsys_bringup.launch b/launch/hrp2jsknt_hrpsys_bringup.launch
index 5aa7ad2e..63d63403 100644
--- a/launch/hrp2jsknt_hrpsys_bringup.launch
+++ b/launch/hrp2jsknt_hrpsys_bringup.launch
@@ -4,8 +4,7 @@
 
   <group if="$(arg LOOPBACK_MODE)">
     <param name="robot_description"
-	   textfile="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
-
+           textfile="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
     <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
       <param name="publish_frequency" type="double" value="100.0" />
     </node>
@@ -16,8 +15,9 @@
   <!-- <rosparam command="load" -->
   <!--           file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" /> -->
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
+    <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
diff --git a/launch/hrp2jsknts_hrpsys_bringup.launch b/launch/hrp2jsknts_hrpsys_bringup.launch
index aa5a64a8..4d3280c6 100644
--- a/launch/hrp2jsknts_hrpsys_bringup.launch
+++ b/launch/hrp2jsknts_hrpsys_bringup.launch
@@ -4,7 +4,7 @@
 
   <group if="$(arg LOOPBACK_MODE)">
     <param name="robot_description"
-	   textfile="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
+           textfile="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
 
     <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
       <param name="publish_frequency" type="double" value="100.0" />
@@ -16,8 +16,9 @@
   <!-- <rosparam command="load" -->
   <!--           file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" /> -->
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
+    <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
diff --git a/launch/hrpsys_bring_up_HRP4C.launch b/launch/hrp4c_hrpsys_bringup.launch
similarity index 69%
rename from launch/hrpsys_bring_up_HRP4C.launch
rename to launch/hrp4c_hrpsys_bringup.launch
index 7a4dc027..c37e52ee 100644
--- a/launch/hrpsys_bring_up_HRP4C.launch
+++ b/launch/hrp4c_hrpsys_bringup.launch
@@ -2,8 +2,9 @@
   <arg name="SYNCHRONIZED" default="false" />
   <arg name="LOOPBACK"     default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE"   value="HRP4C" />
+    <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
     <arg name="LOOPBACK"     value="$(arg LOOPBACK)" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="IOB_SUBSTEPS" value="5" />
diff --git a/launch/robot_hrpsys_bringup.launch b/launch/robot_hrpsys_bringup.launch
deleted file mode 100644
index ba9274b6..00000000
--- a/launch/robot_hrpsys_bringup.launch
+++ /dev/null
@@ -1,68 +0,0 @@
-<launch>
-  <arg name="KILL_SERVERS" default="false" />
-  <arg name="ROBOT_TYPE" default="SampleRobot" /> <!-- ROBOT type name -->
-  <arg name="SIMULATOR_NAME" default="RobotHardware0" />
-  <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
-  <arg name="LOOPBACK" default="false" />
-  <!-- ROBOT instance name (name_space) -->
-  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
-  <arg name="USE_INSTANCE_NAME" default="false" />
-  <arg name="HRPSYS_PY_ARGS" default="" />
-  <arg name="GAZEBO_MODEL_DIR" value="$(find hrpsys_gazebo_tutorials)/robot_models/$(arg ROBOT_TYPE)" />
-  <arg name="CONF_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).conf" />
-
-  <!-- hrpsys_gazebo settings -->
-  <arg name="SYNCHRONIZED" default="false" />
-  <arg name="IOB_SUBSTEPS" default="5" />
-  <arg name="HRPSYS_RATE"  default="200" />
-
-  <env if="$(arg SYNCHRONIZED)"
-       name="HRPSYS_GAZEBO_IOB_SYNCHRONIZED" value="1" />
-  <env if="$(arg SYNCHRONIZED)"
-       name="HRPSYS_GAZEBO_IOB_SUBSTEPS" value="$(arg IOB_SUBSTEPS)" />
-
-  <include if="$(arg LOOPBACK)"
-           file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch" >
-    <arg name="ROBOT_TYPE" value="$(arg ROBOT_TYPE)" />
-    <arg name="ROBOT_INSTANCE_NAME" value="$(arg ROBOT_INSTANCE_NAME)" />
-    <arg name="LOOPBACK" value="true" />
-  </include>
-
-  <!--env name="HRPSYS_GAZEBO_IOB_NAME" value="hrpsys_gazebo_iob" /-->
-  <!--env name="HRPSYS_GAZEBO_CONFIGURATION" value="hrpsys_gazebo_configuration" /-->
-  <env if="$(arg USE_INSTANCE_NAME)"
-       name="HRPSYS_GAZEBO_ROBOTNAME" value="$(arg ROBOT_INSTANCE_NAME)" />
-
-  <!-- end of hrpsys_gazebo settings -->
-
-  <include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
-    <arg name="USE_RTCD" value="true" />
-    <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
-    <arg name="RobotHardware_conf" default='$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).RobotHardware.conf'/>
-    <arg name="PROJECT_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE)_nosim.xml" />
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
-    <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
-    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <arg name="HRPSYS_PY_ARGS" default="$(arg HRPSYS_PY_ARGS)" />
-    <arg name="hrpsys_periodic_rate" value="$(arg HRPSYS_RATE)" />
-    <!--arg name="RTCD_LAUNCH_PREFIX" value="xterm -e gdb ++args" /-->
-  </include>
-
-  <!-- hrpsys_ros_bridge -->
-  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
-    <arg name="MODEL_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
-    <arg name="COLLADA_FILE" value="$(arg GAZEBO_MODEL_DIR)/hrpsys/$(arg ROBOT_TYPE).dae" />
-    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
-    <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
-
-    <arg name="USE_COMMON" default="true" />
-    <arg name="USE_ROBOTHARDWARE" default="true" />
-    <arg name="USE_WALKING" default="true" />
-    <arg name="USE_COLLISIONCHECK" default="true" />
-    <arg name="USE_IMPEDANCECONTROLLER" default="true" />
-    <arg name="USE_SOFTERRORLIMIT" default="true" />
-    <arg name="USE_IMAGESENSOR" default="false" />
-  </include>
-
-  <node pkg="hrpsys_ros_bridge" type="hrpsys_dashboard" name="gazebo_robot_dashboard" />
-</launch>
diff --git a/launch/samplerobot_hrpsys_bringup.launch b/launch/samplerobot_hrpsys_bringup.launch
index d1294f14..ee90df2b 100644
--- a/launch/samplerobot_hrpsys_bringup.launch
+++ b/launch/samplerobot_hrpsys_bringup.launch
@@ -16,8 +16,9 @@
   <node pkg="tf" type="static_transform_publisher" name="sensor_transform_4"
         args="0 0 0 0 0 0 /WAIST_LINK0 gyrometer 100" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="SampleRobot" />
+    <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
diff --git a/launch/staro_hrpsys_bringup.launch b/launch/staro_hrpsys_bringup.launch
index 118646a4..bdc8cc6c 100644
--- a/launch/staro_hrpsys_bringup.launch
+++ b/launch/staro_hrpsys_bringup.launch
@@ -1,10 +1,14 @@
 <launch>
+  <arg name="SYNCHRONIZED" default="false" />
+
   <!-- <rosparam command="load" -->
-  <!--           file="$(find jsk_hrpsys_ros_bridge)/models/STARO_controller_config.yaml" /> -->
+  <!--           file="$(find hrpsys_ros_bridge)/models/STARO_controller_config.yaml" /> -->
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="STARO" />
+    <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
     <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
   </include>
 </launch>
diff --git a/robot_models/HRP2JSK/HRP2JSK.urdf.xacro b/robot_models/HRP2JSK/HRP2JSK.urdf.xacro
new file mode 100644
index 00000000..095c2ee5
--- /dev/null
+++ b/robot_models/HRP2JSK/HRP2JSK.urdf.xacro
@@ -0,0 +1,47 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSK" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
+      <robotname>HRP2JSK</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+  <!-- add imu sensor -->
+  <gazebo reference="CHEST_LINK1" >
+    <sensor name="waist_imu" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <!-- add force sensor -->
+  <gazebo reference="LLEG_JOINT5">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RLEG_JOINT5">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="LARM_JOINT6">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RARM_JOINT6">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+</robot>
diff --git a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh b/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh
similarity index 50%
rename from robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
rename to robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh
index 42810eed..a9751bd1 100755
--- a/robot_models/HRP2JSK/HRP2JSK_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh
@@ -6,13 +6,6 @@ function error {
 trap error ERR
 
 OUTPUT_FILE=$1
-
-## add Plugin settings
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP2JSK</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## add IMU sensor (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## add force sensors (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 ## change foot parameters
 sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
@@ -21,9 +14,5 @@ sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -
 sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSK/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
 # continuous joint not working in GAZEBO
 sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-
-# if you want to simulate self collision, uncomment the following line. (robot motion becomes unstable.)
-# sed -i -e "s@</mu2>@</mu2>\n    <selfCollide>true</selfCollide>@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' ${OUTPUT_FILE}
diff --git a/robot_models/HRP2JSK/model.config b/robot_models/HRP2JSK/model.config
deleted file mode 100644
index 93e0471e..00000000
--- a/robot_models/HRP2JSK/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>HRP2JSK</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>HRP2JSK_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
index c78e7b18..5a16d8d5 100644
--- a/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
@@ -1,7 +1,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT_only_body.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">
diff --git a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh b/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh
similarity index 63%
rename from robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
rename to robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh
index 4369ba24..82874e25 100755
--- a/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh
@@ -6,46 +6,26 @@ function error {
 trap error ERR
 
 OUTPUT_FILE=$1
-ADDITIONAL_ROS_PACKAGE_PATH=$2
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
-
 # 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@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
 sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
-
 ## change foot parameters
 sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-
-# ## change foot geometry mesh -> box
-# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-
-# ## delete toe link collision
-# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
-# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
-
 # remove LARM_LINK6
 L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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 "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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}
-
-# generate URDF with xacro
-cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
-rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
diff --git a/robot_models/HRP2JSKNT/model.config b/robot_models/HRP2JSKNT/model.config
deleted file mode 100644
index 7b9c3305..00000000
--- a/robot_models/HRP2JSKNT/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>HRP2JSKNT</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>HRP2JSKNT_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
index 68d8a9ca..a308733b 100644
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
@@ -1,7 +1,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNTS" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS_only_body.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">
diff --git a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh b/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh
similarity index 63%
rename from robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
rename to robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh
index 88357fd3..82874e25 100755
--- a/robot_models/HRP2JSKNTS/HRP2JSKNTS_optional_urdf_setting.sh
+++ b/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh
@@ -6,46 +6,26 @@ function error {
 trap error ERR
 
 OUTPUT_FILE=$1
-ADDITIONAL_ROS_PACKAGE_PATH=$2
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
-
 # 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@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
 sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
-
 ## change foot parameters
 sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-
-# ## change foot geometry mesh -> box
-# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.054 -0.010 -0.070" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-
-# ## delete toe link collision
-# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
-# sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n      <origin xyz="0.115 0 -0.074" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP2JSKNTS/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1" />\n      </geometry>\n    </collision>@@;}' ${OUTPUT_FILE}
-
 # remove LARM_LINK6
 L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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 "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
 L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -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}
-
-# generate URDF with xacro
-cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
-rosrun xacro xacro.py `echo ${OUTPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
diff --git a/robot_models/HRP2JSKNTS/model.config b/robot_models/HRP2JSKNTS/model.config
deleted file mode 100644
index a9b1dee2..00000000
--- a/robot_models/HRP2JSKNTS/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>HRP2JSKNTS</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>HRP2JSKNTS_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro b/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro
new file mode 100644
index 00000000..ae3af8b4
--- /dev/null
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro
@@ -0,0 +1,10 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP3HAND_L" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
+      <robotname>HRP3HAND_L</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+</robot>
diff --git a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh b/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh
similarity index 92%
rename from robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
rename to robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh
index cd0cea7b..1458e45f 100755
--- a/robot_models/HRP3HAND_L/HRP3HAND_L_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh
@@ -6,19 +6,13 @@ function error {
 trap error ERR
 
 OUTPUT_FILE=$1
-
-## add Plugin settings
-##
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_L</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 # 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\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
-
 sed -i -e '/<gazebo reference="L_INDEXMP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="L_INDEXMP_P_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 sed -i -e '/<gazebo reference="L_INDEXMPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
diff --git a/robot_models/HRP3HAND_L/model.config b/robot_models/HRP3HAND_L/model.config
deleted file mode 100644
index eb651ea2..00000000
--- a/robot_models/HRP3HAND_L/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>HRP3HAND_L</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>HRP3HAND_L_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro b/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro
new file mode 100644
index 00000000..43e6be28
--- /dev/null
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro
@@ -0,0 +1,10 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP3HAND_R" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
+      <robotname>HRP3HAND_R</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+</robot>
diff --git a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh b/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh
similarity index 53%
rename from robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
rename to robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh
index 9f5665b2..1458e45f 100755
--- a/robot_models/HRP3HAND_R/HRP3HAND_R_optional_urdf_setting.sh
+++ b/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh
@@ -6,25 +6,19 @@ function error {
 trap error ERR
 
 OUTPUT_FILE=$1
-
-## add Plugin settings
-##
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>HRP3HAND_R</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
 # 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\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
 done
-
-sed -i -e '/<gazebo reference="R_INDEXMP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXMP_P_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXMPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_MIDDLEPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_MIDDLEPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_THUMBCM_Y_LINK">/{N;N;N;N;s@  <gazebo reference="R_THUMBCM_Y_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_THUMBCM_P_LINK">/{N;N;N;N;s@  <gazebo reference="R_THUMBCM_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXMP_R">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_R">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_R">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXMP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXMP_P_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXMPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_MIDDLEPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_MIDDLEPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_THUMBCM_Y_LINK">/{N;N;N;N;s@  <gazebo reference="L_THUMBCM_Y_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_THUMBCM_P_LINK">/{N;N;N;N;s@  <gazebo reference="L_THUMBCM_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXMP_R">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_R">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_R">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="L_INDEXPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
 
diff --git a/robot_models/HRP3HAND_R/model.config b/robot_models/HRP3HAND_R/model.config
deleted file mode 100644
index b090fecf..00000000
--- a/robot_models/HRP3HAND_R/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>HRP3HAND_R</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>HRP3HAND_R_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/HRP4C/HRP4C.urdf.xacro b/robot_models/HRP4C/HRP4C.urdf.xacro
new file mode 100644
index 00000000..64ec4d94
--- /dev/null
+++ b/robot_models/HRP4C/HRP4C.urdf.xacro
@@ -0,0 +1,10 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP4C" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP4C/HRP4C.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
+      <robotname>HRP4C</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+</robot>
diff --git a/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh b/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh
new file mode 100755
index 00000000..23e67261
--- /dev/null
+++ b/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/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh b/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
deleted file mode 100755
index 17567823..00000000
--- a/robot_models/HRP4C/HRP4C_optional_urdf_setting.sh
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-# 
-# ## add Plugin settings
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <!--robotname>HRP4C</robotname>\n      <controller>hrpsys_gazebo_configuration</controller-->\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-
-patch -p 0 < ./HRP4C.urdf.patch
-
-# ## add IMU sensor (TODO: sensors should be added when converting from collada file)
-# sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-# ## add force sensors (TODO: sensors should be added when converting from collada file)
-# sed -i -e 's@</robot>@  <gazebo reference="LLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_JOINT5">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_JOINT6">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-# ## change foot parameters
-# sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-# sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-# ## change foot geometry mesh -> box
-# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP4C/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-# sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://HRP4C/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.07" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.2412 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-# # continuous joint not working in GAZEBO
-# sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-# 
-# # if you want to simulate self collision, uncomment the following line. (robot motion becomes unstable.)
-# # sed -i -e "s@</mu2>@</mu2>\n    <selfCollide>true</selfCollide>@g" ${OUTPUT_FILE}
diff --git a/robot_models/HRP4C/model.config b/robot_models/HRP4C/model.config
deleted file mode 100644
index f7a416ff..00000000
--- a/robot_models/HRP4C/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>HRP4C</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>HRP4C_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/STARO/STARO.urdf.xacro b/robot_models/STARO/STARO.urdf.xacro
new file mode 100644
index 00000000..3923db22
--- /dev/null
+++ b/robot_models/STARO/STARO.urdf.xacro
@@ -0,0 +1,34 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="STARO" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
+      <robotname>STARO</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+  <!-- add imu sensor -->
+  <gazebo reference="CHEST_LINK1" >
+    <sensor name="waist_imu" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+</robot>
diff --git a/robot_models/STARO/STARO_additional_urdf_setting.sh b/robot_models/STARO/STARO_additional_urdf_setting.sh
new file mode 100755
index 00000000..0f5d2f41
--- /dev/null
+++ b/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 '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+# continuous joint not working in GAZEBO
+sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
+sed -i -e 's@<joint name="HEAD_JOINT0" type="fixed">@<joint name="HEAD_JOINT0" type="revolute">@g' ${OUTPUT_FILE}
diff --git a/robot_models/STARO/STARO_optional_urdf_setting.sh b/robot_models/STARO/STARO_optional_urdf_setting.sh
deleted file mode 100755
index 1e27b27d..00000000
--- a/robot_models/STARO/STARO_optional_urdf_setting.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-
-## add Plugin settings
-##
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>STARO</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## add IMU sensor (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="CHEST_LINK1" >\n    <sensor name="waist_imu" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-sed -i -e 's@<joint name="HEAD_JOINT0" type="fixed">@<joint name="HEAD_JOINT0" type="revolute">@g' ${OUTPUT_FILE}
diff --git a/robot_models/STARO/model.config b/robot_models/STARO/model.config
deleted file mode 100644
index e3f8169b..00000000
--- a/robot_models/STARO/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>STARO</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>STARO_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/SampleRobot/SampleRobot.urdf.xacro b/robot_models/SampleRobot/SampleRobot.urdf.xacro
new file mode 100644
index 00000000..4cfad3c2
--- /dev/null
+++ b/robot_models/SampleRobot/SampleRobot.urdf.xacro
@@ -0,0 +1,47 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="SampleRobot" >
+  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
+  <!-- add IOB plugin -->
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
+      <robotname>SampleRobot</robotname>
+      <controller>hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
+  <!-- add imu sensor -->
+  <gazebo reference="WAIST_LINK0" >
+    <sensor name="sample_imu_sensor" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <!-- add force sensor -->
+  <gazebo reference="LLEG_ANKLE_R">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RLEG_ANKLE_R">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="LARM_WRIST_R">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <gazebo reference="RARM_WRIST_R">
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+</robot>
diff --git a/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh b/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh
new file mode 100755
index 00000000..6c358561
--- /dev/null
+++ b/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 '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
+sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${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/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh b/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
deleted file mode 100755
index 3c33477b..00000000
--- a/robot_models/SampleRobot/SampleRobot_optional_urdf_setting.sh
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-## add Plugin settings
-sed -i -e 's@</robot>@  <gazebo>\n    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >\n      <robotname>SampleRobot</robotname>\n      <controller>hrpsys_gazebo_configuration</controller>\n    </plugin>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## add IMU sensor (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="WAIST_LINK0" >\n    <sensor name="sample_imu_sensor" type="imu">\n      <always_on>1</always_on>\n      <update_rate>1000.0</update_rate>\n      <imu>\n        <noise>\n          <type>gaussian</type>\n          <rate>\n            <mean>0.0</mean>\n            <stddev>2e-4</stddev>\n            <bias_mean>0.0000075</bias_mean>\n            <bias_stddev>0.0000008</bias_stddev>\n          </rate>\n          <accel>\n            <mean>0.0</mean>\n            <stddev>1.7e-2</stddev>\n            <bias_mean>0.1</bias_mean>\n            <bias_stddev>0.001</bias_stddev>\n          </accel>\n        </noise>\n      </imu>\n    </sensor>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## add forse sensors (TODO: sensors should be added when converting from collada file)
-sed -i -e 's@</robot>@  <gazebo reference="LLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RLEG_ANKLE_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="LARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n  <gazebo reference="RARM_WRIST_R">\n    <provideFeedback>1</provideFeedback>\n  </gazebo>\n</robot>@g' ${OUTPUT_FILE}
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${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/robot_models/SampleRobot/model.config b/robot_models/SampleRobot/model.config
deleted file mode 100644
index 4b64797f..00000000
--- a/robot_models/SampleRobot/model.config
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version='1.0'?>
-<model>
-  <name>SampleRobot</name>
-  <version>0.1.0</version>
-  <author>
-    <name>Yohei Kakiuchi</name>
-    <email>youhei@jsk.t.u-tokyo.ac.jp</email>
-  </author>
-  <sdf>SampleRobot_for_gazebo.urdf</sdf>
-  <description>
-    auto generated file ...
-  </description>
-</model>
diff --git a/robot_models/install_robot_common.sh b/robot_models/install_robot_common.sh
deleted file mode 100755
index 352018fc..00000000
--- a/robot_models/install_robot_common.sh
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-
-# usage
-# ./install_robot_common.sh ROBOT_NAME (model directory) (output directory) (collada_to_urdf_binary) (additional_ros_package_path)
-
-ROBOT_NAME=$1
-if [ $# -gt 1 ]; then
-    INPUT_DIR=$2
-else
-    INPUT_DIR=$(rospack find hrpsys_ros_bridge_tutorials)/models
-fi
-
-if [ $# -gt 2 ]; then
-    OUTPUT_DIR=$3
-else
-    OUTPUT_DIR=$(rospack find hrpsys_gazebo_tutorials)/robot_models/${ROBOT_NAME}
-fi
-
-if [ $# -gt 3 ]; then
-    COLLADA_TO_URDF=$4
-else
-    COLLADA_TO_URDF=rosrun\ collada_urdf\ collada_to_urdf
-fi
-
-if [ $# -gt 4 ]; then
-    ADDITIONAL_ROS_PACKAGE_PATH=$5
-else
-    ADDITIONAL_ROS_PACKAGE_PATH=
-fi
-
-OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
-OUTPUT_FILE2=${OUTPUT_DIR}/${ROBOT_NAME}_for_gazebo.urdf
-SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh
-
-if [ ! -e ${INPUT_DIR}/${ROBOT_NAME}.dae ]; then
-    echo -e "\e[31m[WARNING] ${INPUT_DIR}/${ROBOT_NAME}.dae not found\e[m"
-    exit 0
-fi
-if [ ! -e ${OUTPUT_FILE} ]; then
-    mkdir -p ${OUTPUT_DIR}/meshes
-    ${COLLADA_TO_URDF} ${INPUT_DIR}/${ROBOT_NAME}.dae -G -A --mesh_output_dir ${OUTPUT_DIR}/meshes --mesh_prefix "package://hrpsys_gazebo_tutorials/robot_models/${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
-    ${SED_SCRIPT_FILE} ${OUTPUT_FILE} ${ADDITIONAL_ROS_PACKAGE_PATH}
-    cp ${OUTPUT_FILE} ${OUTPUT_FILE2} -f
-    sed -i -e "s@package://hrpsys_gazebo_tutorials/robot_models/@model://@g" ${OUTPUT_FILE2}
-fi
-
-if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then
-    mkdir -p ${OUTPUT_DIR}/hrpsys
-fi
-ln -sf ${INPUT_DIR}/${ROBOT_NAME}.conf ${OUTPUT_DIR}/hrpsys
-ln -sf ${INPUT_DIR}/${ROBOT_NAME}.RobotHardware.conf ${OUTPUT_DIR}/hrpsys
-ln -sf ${INPUT_DIR}/${ROBOT_NAME}.dae ${OUTPUT_DIR}/hrpsys
-ln -sf ${INPUT_DIR}/${ROBOT_NAME}_nosim.xml ${OUTPUT_DIR}/hrpsys
diff --git a/robot_models/manifest.xml b/robot_models/manifest.xml
deleted file mode 100644
index dc170423..00000000
--- a/robot_models/manifest.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" ?>
-<database>
-  <name>hrpsys_gazebo</name>
-  <license>Creative Commons Attribution 3.0 Unported</license>
-
-  <models>
-    <uri>file://SampleRobot</uri>
-    <uri>file://HRP2JSK</uri>
-    <uri>file://HRP2JSKNT</uri>
-    <uri>file://HRP2JSKNTS</uri>
-    <uri>file://STARO</uri>
-  </models>
-</database>
diff --git a/scripts/default_gazebo_robot_no_controllers.launch.in b/scripts/default_gazebo_robot_no_controllers.launch.in
deleted file mode 100644
index ca267491..00000000
--- a/scripts/default_gazebo_robot_no_controllers.launch.in
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-  <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="@ROBOT@.world"/>
-  <arg name="PAUSED" default="false"/>
-  <arg name="SYNCHRONIZED" default="false" />
-
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
-    <arg name="gzname" value="$(arg gzname)" />
-    <arg name="WORLD" value="$(arg WORLD)" />
-    <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/@ROBOT@.yaml" />
-    <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/@ROBOT@/@ROBOT@.urdf" />
-    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
-  </include>
-</launch>
diff --git a/scripts/default_robot_hrpsys_bringup.launch.in b/scripts/default_robot_hrpsys_bringup.launch.in
deleted file mode 100644
index 02fb36d1..00000000
--- a/scripts/default_robot_hrpsys_bringup.launch.in
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
-  <arg name="SYNCHRONIZED" default="false" />
-
-  <rosparam command="load"
-            file="$(find hrpsys_ros_bridge_tutorials)/models/@ROBOT@_controller_config.yaml" />
-
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/robot_hrpsys_bringup.launch">
-    <arg name="ROBOT_TYPE" value="@ROBOT@" />
-    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
-  </include>
-</launch>
diff --git a/scripts/gazebo b/scripts/gazebo
deleted file mode 100755
index 916bc630..00000000
--- a/scripts/gazebo
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-rospack find drcsim_gazebo 2> /dev/null
-if [ $? -eq 0 ]; then
-    rosrun drcsim_gazebo run_gazebo $@
-else
-    rosrun gazebo_ros gazebo $@
-fi
diff --git a/scripts/gzclient b/scripts/gzclient
deleted file mode 100755
index 229a3120..00000000
--- a/scripts/gzclient
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-rospack find drcsim_gazebo 2> /dev/null
-if [ $? -eq 0 ]; then
-    rosrun drcsim_gazebo run_gzclient $@
-else
-    rosrun gazebo_ros gzclient $@
-fi
diff --git a/scripts/gzserver b/scripts/gzserver
deleted file mode 100755
index 192757ee..00000000
--- a/scripts/gzserver
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-rospack find drcsim_gazebo 2> /dev/null
-if [ $? -eq 0 ]; then
-    rosrun drcsim_gazebo run_gzserver $@
-else
-    rosrun gazebo_ros gzserver $@
-fi
diff --git a/setup.sh b/setup.sh
index 8ac6329f..e3716714 100644
--- a/setup.sh
+++ b/setup.sh
@@ -1,4 +1,6 @@
-#DRCSIM_SETUP_SH=/usr/share/drcsim/setup.sh
+#!/bin/sh
+
+# DRCSIM_SETUP_SH=/usr/share/drcsim/setup.sh
 DRCSIM_SETUP_SH=/usr/share/gazebo/setup.sh
 
 if [ ! -e $DRCSIM_SETUP_SH ]; then
@@ -16,6 +18,7 @@ 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
@@ -23,16 +26,10 @@ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH_ORG:$ROS_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"`
 
 ##
-pkgdir=`rospack find hrpsys_gazebo_general`
 tpkgdir=`rospack find hrpsys_gazebo_tutorials`
 
-if [ -e ${pkgdir} -a -e ${tpkgdir} ]; then
-#    for dname in `find ${tpkgdir}/robot_models -mindepth 1 -maxdepth 1 -type d -regex '.*[^\.svn]'`; do export ROS_PACKAGE_PATH=${dname}:$ROS_PACKAGE_PATH; done
-#    export ROS_PACKAGE_PATH=${pkgdir}/ros:$ROS_PACKAGE_PATH
+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:${tpkgdir}/..
-    export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${pkgdir}/plugins
-    # export GAZEBO_PLUGIN_PATH=${pkgdir}/plugins:$GAZEBO_PLUGIN_PATH
 fi
 
-rospack find drcsim_model_resources > /dev/null 2>&1 && export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`rospack find drcsim_model_resources`/gazebo_models/environments
diff --git a/worlds/HRP2JSK.world b/worlds/HRP2JSK.world
deleted file mode 100644
index 6f277c53..00000000
--- a/worlds/HRP2JSK.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://HRP2JSK</uri>
-      <pose>0 0 0.70 0 0 0</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/HRP2JSKNT.world b/worlds/HRP2JSKNT.world
deleted file mode 100644
index ce2ed449..00000000
--- a/worlds/HRP2JSKNT.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://HRP2JSKNT</uri>
-      <pose>0 0 0.73 0 0 0</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/HRP2JSKNTS.world b/worlds/HRP2JSKNTS.world
deleted file mode 100644
index fefdcada..00000000
--- a/worlds/HRP2JSKNTS.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://HRP2JSKNTS</uri>
-      <pose>0 0 0.73 0 0 0</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/HRP2JSKNT_debris.world b/worlds/HRP2JSKNT_debris.world
deleted file mode 100644
index d51bdeec..00000000
--- a/worlds/HRP2JSKNT_debris.world
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <!-- Objects -->
-    <include>
-      <uri>model://drc_debris</uri>
-      <pose>0.8 0.0 1.0 0.0 0.0 0.0</pose>
-    </include>
-    <include>
-      <uri>model://HRP2JSKNT</uri>
-      <pose>0 0 0.73 0 0 0</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/HRP2JSK_cupboard.world b/worlds/HRP2JSK_cupboard.world
deleted file mode 100644
index 164b3a33..00000000
--- a/worlds/HRP2JSK_cupboard.world
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <!-- A robot -->
-    <include>
-      <uri>model://HRP2JSK</uri>
-      <pose>0 0 0.70 0 0 0</pose>
-    </include>
-    <!-- Objects -->
-    <include>
-      <uri>model://cupboard</uri>
-      <pose>1 0 0 0 0 3.1415</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/STARO.world b/worlds/STARO.world
deleted file mode 100644
index c63be9f5..00000000
--- a/worlds/STARO.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://STARO</uri>
-      <pose>0 0 0.96 0 0 0</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/SampleRobot.world b/worlds/SampleRobot.world
deleted file mode 100644
index 6ce4a1b3..00000000
--- a/worlds/SampleRobot.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://SampleRobot</uri>
-      <pose>0 0 0.73 0 0 0</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/SampleRobot_cupboard.world b/worlds/SampleRobot_cupboard.world
deleted file mode 100644
index 5e1f232e..00000000
--- a/worlds/SampleRobot_cupboard.world
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://SampleRobot</uri>
-      <pose>0 0 0.73 0 0 0</pose>
-    </include>
-    <include>
-      <uri>model://cupboard</uri>
-      <pose>1 0 0 0 0 3.1415</pose>
-    </include>
-  </world>
-</sdf>
diff --git a/worlds/SimpleBox.world b/worlds/SimpleBox.world
index cd6a9069..124e65a4 100644
--- a/worlds/SimpleBox.world
+++ b/worlds/SimpleBox.world
@@ -27,6 +27,7 @@
     <include>
       <uri>model://ground_plane</uri>
     </include>
+    <!-- Objects -->
     <include>
       <uri>model://simple_box</uri>
       <pose>0 0 0.73 0 0 0</pose>
diff --git a/worlds/drc_sample.world b/worlds/drc_sample.world
deleted file mode 100644
index 2a001085..00000000
--- a/worlds/drc_sample.world
+++ /dev/null
@@ -1,82 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-
-    <include>
-      <uri>model://wheel_valve_wall</uri>
-      <pose>1.2 0 0 0 0 3.14</pose>
-    </include>
-
-    <include>
-      <uri>model://cutout_wall</uri>
-      <pose>1.21 1.21 0 0 0 4.71</pose>
-    </include>
-
-    <include>
-      <uri>model://empty_wall</uri>
-      <pose>0 1.22 0 0 0 6.28</pose>
-    </include>
-
-    <include>
-      <uri>model://empty_wall</uri>
-      <pose>-0.01 0.01 0 0 0 7.85</pose>
-    </include>
-
-    <!-- drill -->
-    <include>
-      <uri>model://table</uri>
-      <static>true</static>
-      <pose>3.0 0.8 0 0 0 1.57</pose>
-    </include>
-    <include>
-      <uri>model://cordless_drill</uri>
-      <pose>3.0 0.8 1.0 0 0 1.57</pose>
-    </include>
-
-    <!-- hose -->
-    <include>
-      <uri>model://table</uri>
-      <static>true</static>
-      <pose>0.5 3.0 0 0 0 0</pose>
-    </include>
-    <include>
-      <uri>model://vrc_firehose_long</uri>
-      <pose>1.1 2.8 1.1 0 0 3.14</pose>
-    </include>
-    <include>
-      <uri>model://vrc_standpipe</uri>
-      <pose>1.0 1.8 1.2 -1.5707 0 3.14</pose>
-    </include>
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <!-- <include> -->
-    <!--   <uri>model://HRP2JSK</uri> -->
-    <!--   <pose>0 -1 0.70 0 0 1.57</pose> -->
-    <!-- </include> -->
-  </world>
-</sdf>
diff --git a/worlds/drcbox.world b/worlds/drcbox.world
index c7746602..80b97f2e 100644
--- a/worlds/drcbox.world
+++ b/worlds/drcbox.world
@@ -29,7 +29,6 @@
     <include>
       <uri>model://ground_plane</uri>
     </include>
-    <!-- A robot -->
     <!-- Objects -->
     <include>
       <uri>model://drcbox</uri>
diff --git a/worlds/table_basket.world b/worlds/table_basket.world
index e0fa141f..cbad3890 100644
--- a/worlds/table_basket.world
+++ b/worlds/table_basket.world
@@ -29,7 +29,6 @@
     <include>
       <uri>model://ground_plane</uri>
     </include>
-    <!-- A robot -->
     <!-- Objects -->
     <include>
       <uri>model://basket</uri>
diff --git a/worlds/world_source.world b/worlds/world_source.world
deleted file mode 100644
index a977b2b4..00000000
--- a/worlds/world_source.world
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<!-- This is a source file of world. -->
-<!-- Do not edit this file. -->
-<sdf version="1.4">
-  <world name="default">
-    <physics type="ode">
-      <gravity>0 0 -9.81</gravity>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>50</iters>
-          <sor>1.4</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>1000</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-    </physics>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <!-- A ground plane -->
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <!-- A robot -->
-    <!-- Objects -->
-  </world>
-</sdf>

From 1bc64c72353e5985b683b68aeb11dd24eb609912 Mon Sep 17 00:00:00 2001
From: mmurooka <murooka@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 13 Oct 2014 14:42:53 +0900
Subject: [PATCH 306/306] move hrpsys_gazebo_tutorials to subdirectory

---
 .../CMakeLists.txt                                  |   0
 Makefile => hrpsys_gazebo_tutorials/Makefile        |   0
 README.md => hrpsys_gazebo_tutorials/README.md      |   0
 .../catkin.cmake                                    |   0
 .../config}/HRP2JSK.yaml                            |   0
 .../config}/HRP2JSKNT.yaml                          |   0
 .../config}/HRP2JSKNTS.yaml                         |   0
 .../HRP2JSKNTS_controller_config_for_moveit.yaml    |   0
 .../HRP2JSKNT_controller_config_for_moveit.yaml     |   0
 .../config}/HRP3HAND_L.yaml                         |   0
 .../config}/HRP3HAND_R.yaml                         |   0
 .../config}/HRP4C.yaml                              |   0
 .../config}/STARO.yaml                              |   0
 .../config}/SampleRobot.yaml                        |   0
 .../3d-coord-arrow/meshes/nil_link_mesh.dae         |   0
 .../environment_models}/3d-coord-arrow/model.config |   0
 .../environment_models}/3d-coord-arrow/model.urdf   |   0
 .../3d-coord-arrow_static/meshes/nil_link_mesh.dae  |   0
 .../3d-coord-arrow_static/model.config              |   0
 .../3d-coord-arrow_static/model.urdf                |   0
 .../83B1_valve_wall/model.config                    |   0
 .../environment_models}/83B1_valve_wall/model.sdf   |   0
 .../83B1_wall/materials/scripts/83B1_wall.material  |   0
 .../83B1_wall/materials/textures/83B1_wall.jpg      | Bin
 .../environment_models}/83B1_wall/model.config      |   0
 .../environment_models}/83B1_wall/model.sdf         |   0
 .../basket/meshes/BOX_link_mesh.dae                 |   0
 .../basket/meshes/LEFT_link_mesh.dae                |   0
 .../basket/meshes/RIGHT_link_mesh.dae               |   0
 .../environment_models}/basket/model.config         |   0
 .../environment_models}/basket/model.urdf           |   0
 .../ASKUL-GDH-CUPBOARD-BODYSET2_link_mesh.dae       |   0
 .../ASKUL-GDH-CUPBOARD-BODYSET3_link_mesh.dae       |   0
 .../ASKUL-GDH-CUPBOARD-BODYSET4_link_mesh.dae       |   0
 .../ASKUL-GDH-CUPBOARD-BODYSET5_link_mesh.dae       |   0
 .../ASKUL-GDH-CUPBOARD-BODYSET6_link_mesh.dae       |   0
 .../cupboard/meshes/ROOT_link_mesh.dae              |   0
 .../environment_models}/cupboard/model.config       |   0
 .../environment_models}/cupboard/model.urdf         |   0
 .../materials/scripts/cutout_wall.material          |   0
 .../cutout_wall/materials/textures/cutout_wall.jpg  | Bin
 .../environment_models}/cutout_wall/model.config    |   0
 .../environment_models}/cutout_wall/model.sdf       |   0
 .../dewalt_dc550ka/meshes/dewalt_dc550ka.dae        |   0
 .../environment_models}/dewalt_dc550ka/model.config |   0
 .../environment_models}/dewalt_dc550ka/model.urdf   |   0
 .../environment_models}/drc_debris/model.config     |   0
 .../environment_models}/drc_debris/model.urdf       |   0
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 .../meshes/CRANK-ROOT-LINK_link_mesh.dae            |   0
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 .../drcbox-valve-bar-0/model.config                 |   0
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 .../meshes/CRANK-ROOT-LINK_link_mesh.dae            |   0
 .../meshes/VALVE-HANDLE-LINK_link_mesh.dae          |   0
 .../drcbox-valve-large-0/model.config               |   0
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 .../meshes/CRANK-ROOT-LINK_link_mesh.dae            |   0
 .../meshes/VALVE-HANDLE-LINK_link_mesh.dae          |   0
 .../drcbox-valve-small-0/model.config               |   0
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 .../euslisp}/calc-joint-error.l                     |   0
 .../euslisp}/gazebo-msgs-util.l                     |   0
 .../euslisp}/gazebo-plugin-utils.l                  |   0
 .../euslisp}/hand-command-publisher.l               |   0
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 .../euslisp}/hrpsys-gazebo-utils.l                  |   0
 .../euslisp}/manip-obj-search.l                     |   0
 .../euslisp}/print-collision-link-pairs.l           |   0
 .../euslisp}/spawn_gazebo_model.l                   |   0
 .../launch}/gazebo_hrp2jsk_no_controllers.launch    |   0
 .../launch}/gazebo_hrp2jsknt_no_controllers.launch  |   0
 .../launch}/gazebo_hrp2jsknts_no_controllers.launch |   0
 .../launch}/gazebo_hrp3hand_l_no_controllers.launch |   0
 .../launch}/gazebo_hrp3hand_r_no_controllers.launch |   0
 .../launch}/gazebo_launch_source.launch             |   0
 .../gazebo_samplerobot_no_controllers.launch        |   0
 .../launch}/gazebo_simplebox.launch                 |   0
 .../launch}/gazebo_staro_no_controllers.launch      |   0
 .../launch}/hrp2jsk_hrpsys_bringup.launch           |   0
 .../launch}/hrp2jsknt_hrpsys_bringup.launch         |   0
 .../launch}/hrp2jsknts_hrpsys_bringup.launch        |   0
 .../launch}/hrp4c_hrpsys_bringup.launch             |   0
 .../launch}/pcl_rough.launch                        |   0
 .../launch}/samplerobot_hrpsys_bringup.launch       |   0
 .../launch}/staro_hrpsys_bringup.launch             |   0
 .../manifest.xml                                    |   0
 package.xml => hrpsys_gazebo_tutorials/package.xml  |   0
 .../robot_models}/HRP2JSK/HRP2JSK.urdf.xacro        |   0
 .../HRP2JSK/HRP2JSK_additional_urdf_setting.sh      |   0
 .../robot_models}/HRP2JSKNT/HRP2JSKNT.urdf.xacro    |   0
 .../HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh  |   0
 .../robot_models}/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro  |   0
 .../HRP2JSKNTS_additional_urdf_setting.sh           |   0
 .../robot_models}/HRP3HAND_L/HRP3HAND_L.urdf.xacro  |   0
 .../HRP3HAND_L_additional_urdf_setting.sh           |   0
 .../robot_models}/HRP3HAND_R/HRP3HAND_R.urdf.xacro  |   0
 .../HRP3HAND_R_additional_urdf_setting.sh           |   0
 .../robot_models}/HRP4C/HRP4C.urdf.patch            |   0
 .../robot_models}/HRP4C/HRP4C.urdf.xacro            |   0
 .../HRP4C/HRP4C_additional_urdf_setting.sh          |   0
 .../robot_models}/STARO/STARO.urdf.xacro            |   0
 .../STARO/STARO_additional_urdf_setting.sh          |   0
 .../SampleRobot/SampleRobot.urdf.xacro              |   0
 .../SampleRobot_additional_urdf_setting.sh          |   0
 .../rospack_nosubdirs                               |   0
 .../scripts}/change_prismatic_joint_fixed.py        |   0
 .../scripts}/eus2urdf_for_gazebo_pyscript.py        |   0
 .../scripts}/generate_model_database.py             |   0
 .../scripts}/generate_room_world.py                 |   0
 .../scripts}/make_fixed_model.py                    |   0
 .../scripts}/make_static_model.py                   |   0
 .../scripts}/remove_all_added_models.py             |   0
 .../scripts}/remove_all_generated_files.py          |   0
 setup.sh => hrpsys_gazebo_tutorials/setup.sh        |   0
 .../worlds}/SimpleBox.world                         |   0
 .../worlds}/drcbox.world                            |   0
 .../worlds}/table_basket.world                      |   0
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 rename CMakeLists.txt => hrpsys_gazebo_tutorials/CMakeLists.txt (100%)
 rename Makefile => hrpsys_gazebo_tutorials/Makefile (100%)
 rename README.md => hrpsys_gazebo_tutorials/README.md (100%)
 rename catkin.cmake => hrpsys_gazebo_tutorials/catkin.cmake (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP2JSK.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP2JSKNT.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP2JSKNTS.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP2JSKNTS_controller_config_for_moveit.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP2JSKNT_controller_config_for_moveit.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP3HAND_L.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP3HAND_R.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/HRP4C.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/STARO.yaml (100%)
 rename {config => hrpsys_gazebo_tutorials/config}/SampleRobot.yaml (100%)
 rename {environment_models => hrpsys_gazebo_tutorials/environment_models}/3d-coord-arrow/meshes/nil_link_mesh.dae (100%)
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 rename {environment_models => hrpsys_gazebo_tutorials/environment_models}/83B1_valve_wall/model.config (100%)
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 rename {euslisp => hrpsys_gazebo_tutorials/euslisp}/calc-joint-error.l (100%)
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diff --git a/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh
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diff --git a/robot_models/STARO/STARO.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro
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diff --git a/robot_models/SampleRobot/SampleRobot.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro
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diff --git a/scripts/eus2urdf_for_gazebo_pyscript.py b/hrpsys_gazebo_tutorials/scripts/eus2urdf_for_gazebo_pyscript.py
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diff --git a/scripts/generate_model_database.py b/hrpsys_gazebo_tutorials/scripts/generate_model_database.py
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diff --git a/scripts/make_fixed_model.py b/hrpsys_gazebo_tutorials/scripts/make_fixed_model.py
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diff --git a/scripts/remove_all_generated_files.py b/hrpsys_gazebo_tutorials/scripts/remove_all_generated_files.py
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diff --git a/worlds/SimpleBox.world b/hrpsys_gazebo_tutorials/worlds/SimpleBox.world
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diff --git a/worlds/drcbox.world b/hrpsys_gazebo_tutorials/worlds/drcbox.world
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diff --git a/worlds/table_basket.world b/hrpsys_gazebo_tutorials/worlds/table_basket.world
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