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Naoki-HiraokaNaoki-Hiraoka
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remove environment variable for HRP2
1 parent 9038978 commit de29f94

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8 files changed

+52
-29
lines changed

8 files changed

+52
-29
lines changed

‎hrpsys_choreonoid_tutorials/launch/hrp2jsk_choreonoid.launch‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -7,12 +7,12 @@
77
<!-- <arg name="LAUNCH_FOOTCOORDS" default="true" /> -->
88
<arg name="LAUNCH_FOOTCOORDS" value="false" />
99
<arg name="ENVIRONMENT_YAML" value="$(arg ENVIRONMENT_YAML)" />
10-
<arg name="CHOREONOID_ROBOT" value="HRP2JSK"/>
10+
<arg name="ROBOT_NAME" value="HRP2JSK"/>
1111
<arg name="MODEL_FILE" value="$(find hrp2_models)/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl"/>
1212
<arg name="COLLADA_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_WH_SENSORS.urdf"/>
1313
<arg name="CONF_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK.conf"/>
1414
<arg name="HRPSYS_PY_PKG" value="hrpsys_choreonoid_tutorials"/>
15-
<arg name="HRPSYS_PY_NAME" value="hrp2_rh_setup.py" />
15+
<arg name="HRPSYS_PY_NAME" value="hrp2jsk_rh_setup.py" />
1616
<arg name="CONTROLLER_CONFIG" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_controller_config.yaml" />
1717
<arg name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKCustomizer.yaml" />
1818
</include>

‎hrpsys_choreonoid_tutorials/launch/hrp2jsknt_choreonoid.launch‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -7,12 +7,12 @@
77
<!-- <arg name="LAUNCH_FOOTCOORDS" default="true" /> -->
88
<arg name="LAUNCH_FOOTCOORDS" value="false" />
99
<arg name="ENVIRONMENT_YAML" value="$(arg ENVIRONMENT_YAML)" />
10-
<arg name="CHOREONOID_ROBOT" value="HRP2JSKNT"/>
10+
<arg name="ROBOT_NAME" value="HRP2JSKNT"/>
1111
<arg name="MODEL_FILE" value="$(find hrp2_models)/HRP2JSKNT_WITH_3HAND_for_OpenHRP3/HRP2JSKNTmain.wrl"/>
1212
<arg name="COLLADA_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_WH_SENSORS.urdf"/>
1313
<arg name="CONF_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT.conf"/>
1414
<arg name="HRPSYS_PY_PKG" value="hrpsys_choreonoid_tutorials"/>
15-
<arg name="HRPSYS_PY_NAME" value="hrp2_rh_setup.py" />
15+
<arg name="HRPSYS_PY_NAME" value="hrp2jsknt_rh_setup.py" />
1616
<arg name="CONTROLLER_CONFIG" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" />
1717
<arg name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNTCustomizer.yaml" />
1818
</include>

‎hrpsys_choreonoid_tutorials/launch/hrp2jsknts_choreonoid.launch‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -14,12 +14,12 @@
1414
<arg name="VISION_CONNECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/launch/hrp2jsknts_vision_connect.launch" />
1515
<arg name="LAUNCH_FOOTCOORDS" default="$(arg LAUNCH_FOOTCOORDS)" />
1616
<arg name="ENVIRONMENT_YAML" value="$(arg ENVIRONMENT_YAML)" />
17-
<arg name="CHOREONOID_ROBOT" value="HRP2JSKNTS"/>
17+
<arg name="ROBOT_NAME" value="HRP2JSKNTS"/>
1818
<arg name="MODEL_FILE" value="$(find hrp2_models)/HRP2JSKNTS_WITH_3HAND_for_OpenHRP3/HRP2JSKNTSmain.wrl"/>
1919
<arg name="COLLADA_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_WH_SENSORS.urdf"/>
2020
<arg name="CONF_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.conf"/>
2121
<arg name="HRPSYS_PY_PKG" value="hrpsys_choreonoid_tutorials"/>
22-
<arg name="HRPSYS_PY_NAME" value="hrp2_rh_setup.py" />
22+
<arg name="HRPSYS_PY_NAME" value="hrp2jsknts_rh_setup.py" />
2323
<arg name="CONTROLLER_CONFIG" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" />
2424
<arg name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNTSCustomizer.yaml" />
2525
<arg name="USE_SOFTERRORLIMIT" value="true" />

‎hrpsys_choreonoid_tutorials/launch/robot_choreonoid.launch‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -9,8 +9,8 @@
99
<arg name="hrpsys_precreate_rtc" default=""/>
1010
<arg name="LAUNCH_FOOTCOORDS" default="true" />
1111

12-
<arg name="CHOREONOID_ROBOT" default="JAXON_RED"/>
13-
<env name="CHOREONOID_ROBOT" value="$(arg CHOREONOID_ROBOT)" /> <!-- for JAXONCustomizer and some setup.py -->
12+
<arg name="ROBOT_NAME" default="JAXON_RED"/>
13+
<env name="CHOREONOID_ROBOT" value="$(arg ROBOT_NAME)" /> <!-- for JAXONCustomizer -->
1414

1515
<arg name="CUSTOMIZER_CONF_FILE" default="" />
1616
<env name="CUSTOMIZER_CONF_FILE" value="$(arg CUSTOMIZER_CONF_FILE)" if="$(eval bool(arg('CUSTOMIZER_CONF_FILE')))"/> <!-- for JAXONCustomizer -->
@@ -22,8 +22,8 @@
2222
name="taskname_last" value="LOAD_OBJ_NW" />
2323
<arg unless="$(arg NO_SCENE)"
2424
name="taskname_last" value="LOAD_OBJ" />
25-
<arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/$(arg CHOREONOID_ROBOT)_$(arg taskname_last).cnoid" />
26-
<arg name="SIMULATOR_NAME" default="$(arg CHOREONOID_ROBOT)(Robot)0" />
25+
<arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/$(arg ROBOT_NAME)_$(arg taskname_last).cnoid" />
26+
<arg name="SIMULATOR_NAME" default="$(arg ROBOT_NAME)(Robot)0" />
2727
<arg name="BRIDGE_SIMULATOR_NAME" default="RobotHardware_choreonoid0" />
2828
<arg name="MODEL_FILE" default="$(find jvrc_models)/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl"/>
2929
<arg name="COLLADA_FILE" default="$(find hrpsys_choreonoid_tutorials)/models/JAXON_JVRC_SENSORS.urdf"/>

‎hrpsys_choreonoid_tutorials/scripts/hrp2jsk_rh_setup.py‎

Lines changed: 14 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,14 @@
1+
#!/usr/bin/env python
2+
3+
from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
4+
5+
if __name__ == '__main__':
6+
hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSK")
7+
if len(sys.argv) > 2 :
8+
hcf.init(sys.argv[1], sys.argv[2])
9+
hcf.startABSTIMP()
10+
elif len(sys.argv) > 1 :
11+
hcf.init(sys.argv[1])
12+
hcf.startABSTIMP()
13+
else :
14+
hcf.init()

‎hrpsys_choreonoid_tutorials/scripts/hrp2jsknt_rh_setup.py‎

Lines changed: 14 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,14 @@
1+
#!/usr/bin/env python
2+
3+
from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
4+
5+
if __name__ == '__main__':
6+
hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSKNT")
7+
if len(sys.argv) > 2 :
8+
hcf.init(sys.argv[1], sys.argv[2])
9+
hcf.startABSTIMP()
10+
elif len(sys.argv) > 1 :
11+
hcf.init(sys.argv[1])
12+
hcf.startABSTIMP()
13+
else :
14+
hcf.init()

‎hrpsys_choreonoid_tutorials/scripts/hrp2jsknts_rh_setup.py‎

Lines changed: 14 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,14 @@
1+
#!/usr/bin/env python
2+
3+
from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
4+
5+
if __name__ == '__main__':
6+
hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSKNTS")
7+
if len(sys.argv) > 2 :
8+
hcf.init(sys.argv[1], sys.argv[2])
9+
hcf.startABSTIMP()
10+
elif len(sys.argv) > 1 :
11+
hcf.init(sys.argv[1])
12+
hcf.startABSTIMP()
13+
else :
14+
hcf.init()

hrpsys_choreonoid_tutorials/scripts/hrp2_rh_setup.py renamed to hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/hrp2_choreonoid_hrpsys_config.py

Lines changed: 0 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -76,22 +76,3 @@ def startABSTIMP (self):
7676
self.ic_svc.startImpedanceController("larm")
7777
self.ic_svc.startImpedanceController("rarm")
7878
self.startStabilizer()
79-
80-
if __name__ == '__main__':
81-
if os.environ["CHOREONOID_ROBOT"] == "HRP2JSKNTS":
82-
robot_name = "HRP2JSKNTS"
83-
elif os.environ["CHOREONOID_ROBOT"] == "HRP2JSKNT":
84-
robot_name = "HRP2JSKNT"
85-
elif os.environ["CHOREONOID_ROBOT"] == "HRP2JSK":
86-
robot_name = "HRP2JSK"
87-
else:
88-
robot_name = ""
89-
hcf = JSKHRP2ChoreonoidHrpsysConfigurator(robot_name)
90-
if len(sys.argv) > 2 :
91-
hcf.init(sys.argv[1], sys.argv[2])
92-
hcf.startABSTIMP()
93-
elif len(sys.argv) > 1 :
94-
hcf.init(sys.argv[1])
95-
hcf.startABSTIMP()
96-
else :
97-
hcf.init()

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