Merge pull request #583 from Naoki-Hiraoka/add-pdgain

start-jsk · May 29, 2021 · 5089794 · 5089794
2 parents 0a8d04c + 2415292
commit 5089794
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/hrpsys_ros_bridge_tutorials/CMakeLists.txt b/hrpsys_ros_bridge_tutorials/CMakeLists.txt
@@ -58,6 +58,7 @@ compile_openhrp_model(
   --conf-file-option "end_effectors: lleg,LLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, rleg,RLEG_ANKLE_R,WAIST,0.0,0.0,-0.07,0.0,0.0,0.0,0.0, larm,LARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708, rarm,RARM_WRIST_P,CHEST,0.0,0,-0.12,0,1.0,0.0,1.5708,"
   --conf-file-option "collision_pair: RARM_WRIST_P:WAIST LARM_WRIST_P:WAIST RARM_WRIST_P:RLEG_HIP_R LARM_WRIST_P:LLEG_HIP_R RARM_WRIST_R:RLEG_HIP_R LARM_WRIST_R:LLEG_HIP_R"
   --conf-file-option "pdgains_sim_file_name: ${hrpsys_PREFIX}/share/hrpsys/samples/SampleRobot/SampleRobot.PDgain.dat"
+  --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
   --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
   )
 else()
@@ -139,6 +140,7 @@ compile_openhrp_model_for_closed_robots(HRP2JSK HRP2JSK_for_OpenHRP3 HRP2JSK
   --conf-file-option "collision_model: convex hull"
   --conf-file-option "# for PDcontroller"
   --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/HRP2JSK.PDgain.dat"
+  --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
   --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100"
   --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)"
   --conf-file-option "seq_optional_data_dim: 8"
@@ -167,6 +169,7 @@ compile_openhrp_model_for_closed_robots(HRP2JSKNT HRP2JSKNT_for_OpenHRP3 HRP2JSK
   --conf-file-option "# for PDcontroller"
   --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100"
   --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/HRP2JSKNT.PDgain.dat"
+  --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
   --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)"
   --conf-file-option "seq_optional_data_dim: 8"
   --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
@@ -192,6 +195,7 @@ compile_openhrp_model_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2J
   --conf-file-option "# for PDcontroller"
   --conf-file-option "pdcontrol_tlimit_ratio:100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100,100"
   --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/HRP2JSKNTS.PDgain.dat"
+  --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
   --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)"
   --conf-file-option "seq_optional_data_dim: 8"
   --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"