Merge pull request start-jsk#203 from YoheiKakiuchi/add_obj_yaml

Add obj yaml
kyawawa · Aug 4, 2016 · b3a3498 · b3a3498
2 parents 4f827ad + 11b53a3
commit b3a3498
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Showing 7 changed files with 31 additions and 8 deletions.
diff --git a/hrpsys_choreonoid/launch/choreonoid.launch b/hrpsys_choreonoid/launch/choreonoid.launch
@@ -29,5 +29,5 @@
        name="enable_const" value="" />
   <node pkg="hrpsys_choreonoid" type="run_choreonoid.sh" name="choreonoid"
         output="screen"
-        args="$(arg PROJECT_FILE) $(arg enable_const) $(arg start_sim) $(arg RTC_ARGS)" />
+        args="$(arg PROJECT_FILE) --add-objects $(arg enable_const) $(arg start_sim) $(arg RTC_ARGS)" />
 </launch>
diff --git a/hrpsys_choreonoid/launch/run_choreonoid.sh b/hrpsys_choreonoid/launch/run_choreonoid.sh
@@ -43,7 +43,9 @@ for arg in $@; do
       enable_const="--python $(rospack find hrpsys_choreonoid)/launch/constraint_enable.py"
   fi
   if [ $arg = "--add-objects" ]; then
-      add_objects="--python $(rospack find hrpsys_choreonoid)/launch/add_objects.py"
+      if [ "${EXTRA_CHOREONOID_OBJS}" != "" ]; then
+          add_objects="--python $(rospack find hrpsys_choreonoid)/launch/add_objects.py"
+      fi
   fi
 done
 

diff --git a/hrpsys_choreonoid_tutorials/CMakeLists.txt b/hrpsys_choreonoid_tutorials/CMakeLists.txt
@@ -161,8 +161,14 @@ configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_RED_VALVE.cnoid.in ${PROJECT_S
 configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_RED_DRCBOX.cnoid.in ${PROJECT_SOURCE_DIR}/config/JAXON_RED_DRCBOX.cnoid @ONLY)
 configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_RED_DOOR.cnoid.in ${PROJECT_SOURCE_DIR}/config/JAXON_RED_DOOR.cnoid @ONLY)
 configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_RED_RH_FLAT.cnoid.in ${PROJECT_SOURCE_DIR}/config/JAXON_RED_RH_FLAT.cnoid @ONLY)
+configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_RED_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/JAXON_RED_LOAD_OBJ.cnoid @ONLY)
 
 ###
 #CHIDORI conid
 ###
-configure_file(${PROJECT_SOURCE_DIR}/config/CHIDORI_RH_FLAT.cnoid.in ${PROJECT_SOURCE_DIR}/config/CHIDORI_RH_FLAT.cnoid @ONLY)
+configure_file(${PROJECT_SOURCE_DIR}/config/CHIDORI_RH_FLAT.cnoid.in ${PROJECT_SOURCE_DIR}/config/CHIDORI_RH_FLAT.cnoid @ONLY)
+
+###
+# scene.yaml
+###
+configure_file(${PROJECT_SOURCE_DIR}/config/flat.yaml.in ${PROJECT_SOURCE_DIR}/config/flat.yaml @ONLY)
diff --git a/hrpsys_choreonoid_tutorials/config/flat.yaml b/hrpsys_choreonoid_tutorials/config/flat.yaml
@@ -0,0 +1,5 @@
+obj1:
+  name: 'VISIBLE_FLOOR'
+  file: '/home/leus/ros/indigo/src/rtm-ros-robotics/rtmros_choreonoid/jvrc_models/models/visible_floor.wrl'
+  translation: [0, 0, -0.1]
+  rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
diff --git a/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch
@@ -1,19 +1,29 @@
 <launch>
   <arg name="TASK" default="FLAT" />
   <arg name="USE_ROBOTHARDWARE" default="false" />
+  <arg name="ENVIRONMENT_YAML" default="$(find hrpsys_choreonoid_tutorials)/config/flat.yaml" />
+  <arg name="LOAD_OBJECTS" default="false" />
 
   <arg name="KILL_SERVERS" default="false" />
   <arg name="NOSIM" default="false" />
   <arg name="REALTIME" default="true" />
   <arg name="RUN_RVIZ" default="true" />
   <arg name="GUI" default="true" />
   <arg name="hrpsys_precreate_rtc" default=""/>
+
   <!-- robot dependant settings -->
   <arg if="$(arg USE_ROBOTHARDWARE)"
        name="taskname" value="RH_$(arg TASK)" />
   <arg unless="$(arg USE_ROBOTHARDWARE)"
        name="taskname" value="$(arg TASK)" />
-  <arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/JAXON_RED_$(arg taskname).cnoid" />
+  <arg if="$(arg LOAD_OBJECTS)"
+       name="taskname_last" value="LOAD_OBJ" />
+  <arg unless="$(arg LOAD_OBJECTS)"
+       name="taskname_last" value="$(arg taskname)" />
+  <env if="$(arg LOAD_OBJECTS)"
+       name="EXTRA_CHOREONOID_OBJS" value="$(arg ENVIRONMENT_YAML)" />
+
+  <arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/JAXON_RED_$(arg taskname_last).cnoid" />
   <arg name="SIMULATOR_NAME" default="JAXON_RED(Robot)0" />
   <arg if="$(arg USE_ROBOTHARDWARE)"
        name="BRIDGE_SIMULATOR_NAME" default="RobotHardware_choreonoid0" />

diff --git a/jvrc_models/models/handle.wrl b/jvrc_models/models/handle.wrl
@@ -1,7 +1,7 @@
 #VRML V2.0 utf8
 Transform {
   scale 1.0 1.0 1.0
-  translation 0.0 0.0 0.0
+  translation 0.0 -0.05 0.0
   rotation 0 1 0 0
   children [
             Shape {
@@ -15,4 +15,4 @@ Transform {
               }
             } # Shape
            ]
-}
+}
diff --git a/jvrc_models/models/valve_box.wrl b/jvrc_models/models/valve_box.wrl
@@ -157,9 +157,9 @@ DEF VALVE_BOX Humanoid {
              ]
           } ## Joint VALVE_BOX_JOINT0
           DEF VALVE_BOX_JOINT1 Joint { ## handle-rotation
-             translation -0.3 -0.5 1.0 
+             translation -0.3 -0.5 1.0
              jointAxis 0 1 0
-             jointType "fixed"
+             jointType "rotate"
              jointId 1
              #ulimit 1
              #llimit -1