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Add test file for Jaxon #530

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Add test file for Jaxon #530

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62bc822
add JAXON_JVRC model from https://github.com/start-jsk/rtmros_choreon…
k-okada Jul 15, 2017
98becf5
add JAXON_JVRC conf,launch,script files
k-okada Jul 15, 2017
8de15bf
add collision test
yswhynot Aug 15, 2017
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11 changes: 6 additions & 5 deletions hrpsys_tutorials/CMakeLists.txt
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Expand Up @@ -4,12 +4,13 @@ project(hrpsys_tutorials)
find_package(catkin REQUIRED COMPONENTS rostest)
catkin_package()

configure_file(${PROJECT_SOURCE_DIR}/models/SampleRobot.conf.in
${PROJECT_SOURCE_DIR}/models/SampleRobot.conf)
configure_file(${PROJECT_SOURCE_DIR}/models/SampleRobot.xml.in
${PROJECT_SOURCE_DIR}/models/SampleRobot.xml)
configure_file(models/SampleRobot.conf.in ${PROJECT_SOURCE_DIR}/models/SampleRobot.conf)
configure_file(models/SampleRobot.xml.in ${PROJECT_SOURCE_DIR}/models/SampleRobot.xml)

find_package(hrpsys)
configure_file(models/JAXON_JVRC.conf.in ${PROJECT_SOURCE_DIR}/models/JAXON_JVRC.conf)
configure_file(models/JAXON_JVRC.xml.in ${PROJECT_SOURCE_DIR}/models/JAXON_JVRC.xml)

#find_package(hrpsys)
#if(EXISTS ${hrpsys_PREFIX}/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl)
# rosbuild_add_rostest(test/hrp4c-test.launch)
#endif()
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13 changes: 13 additions & 0 deletions hrpsys_tutorials/launch/jaxon.launch
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<launch>
<arg name="GUI" default="true" />
<include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
<arg name="MODEL_FILE" value="$(find hrpsys_tutorials)/models/JAXON_JVRC/JAXON_JVRCmain.wrl" />
<arg name="PROJECT_FILE" value="$(find hrpsys_tutorials)/models/JAXON_JVRC.xml" />
<arg name="CONF_FILE" value="$(find hrpsys_tutorials)/models/JAXON_JVRC.conf" />
<arg name="SIMULATOR_NAME" value="JAXON(Robot)0" />
<arg name="GUI" default="$(arg GUI)" />
<arg name="HRPSYS_PY_PKG" default='hrpsys_tutorials' />
<arg name="HRPSYS_PY_NAME" default='jaxon_client.py' />
<arg name="HRPSYS_PY_ARGS" default='' />
</include>
</launch>
14 changes: 14 additions & 0 deletions hrpsys_tutorials/models/JAXON_JVRC.conf.in
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model: file://@PROJECT_SOURCE_DIR@/models/JAXON_JVRC/JAXON_JVRCmain.wrl
dt: 0.002

abc_leg_offset: 0.0, 0.1, 0.0
end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, rarm,RARM_JOINT7,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708, larm,LARM_JOINT7,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708,
collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST RLEG_JOINT2:LARM_JOINT7 RLEG_JOINT3:LARM_JOINT7 RLEG_JOINT5:LARM_JOINT7 LLEG_JOINT2:LARM_JOINT7 LLEG_JOINT3:LARM_JOINT7 LLEG_JOINT5:LARM_JOINT7 CHEST_JOINT1:LARM_JOINT7 HEAD_JOINT1:LARM_JOINT7 RARM_JOINT0:LARM_JOINT7 RARM_JOINT2:LARM_JOINT7 RARM_JOINT3:LARM_JOINT7 RARM_JOINT4:LARM_JOINT7 RARM_JOINT5:LARM_JOINT7 RARM_JOINT7:LARM_JOINT7 LARM_JOINT7:WAIST RLEG_JOINT2:RARM_JOINT7 RLEG_JOINT3:RARM_JOINT7 RLEG_JOINT5:RARM_JOINT7 LLEG_JOINT2:RARM_JOINT7 LLEG_JOINT3:RARM_JOINT7 LLEG_JOINT5:RARM_JOINT7 CHEST_JOINT1:RARM_JOINT7 HEAD_JOINT1:RARM_JOINT7 RARM_JOINT7:LARM_JOINT0 RARM_JOINT7:LARM_JOINT2 RARM_JOINT7:LARM_JOINT3 RARM_JOINT7:LARM_JOINT4 RARM_JOINT7:LARM_JOINT5 RARM_JOINT7:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:RARM_JOINT7 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT7

collision_model: convex hull
seq_optional_data_dim: 8


# joints need joint limit table
# CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2
# CHEST_JOINT0:CHEST_JOINT1 CHEST_JOINT1:CHEST_JOINT0 HEAD_JOINT0:HEAD_JOINT1 HEAD_JOINT1:HEAD_JOINT0 RARM_JOINT6:RARM_JOINT7 RARM_JOINT7:RARM_JOINT6 LARM_JOINT6:LARM_JOINT7 LARM_JOINT7:LARM_JOINT6
205 changes: 205 additions & 0 deletions hrpsys_tutorials/models/JAXON_JVRC.xml.in
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<grxui>
<mode name="Simulation">
<item class="com.generalrobotix.ui.item.GrxSimulationItem" name="simulationItem">
<property name="integrate" value="true"/>
<property name="timeStep" value="0.002"/>
<property name="totalTime" value="2000000.0"/>
<property name="method" value="EULER"/>
</item>
<item class="com.generalrobotix.ui.item.GrxRTSItem" name="JAXON_JVRC" select="true">
<property name="JAXON(Robot)0.period" value="0.002"/>
<property name="HGcontroller0.period" value="0.002"/>
<property name="HGcontroller0.factory" value="HGcontroller"/>
<property name="connection" value="HGcontroller0.qOut:JAXON(Robot)0.qRef"/>
<property name="connection" value="HGcontroller0.dqOut:JAXON(Robot)0.dqRef"/>
<property name="connection" value="HGcontroller0.ddqOut:JAXON(Robot)0.ddqRef"/>
</item>
<item class="com.generalrobotix.ui.item.GrxModelItem" name="JAXON_JVRC" url="@PROJECT_SOURCE_DIR@/models/JAXON_JVRC/JAXON_JVRCmain.wrl">
<property name="rtcName" value="JAXON(Robot)0"/>
<property name="inport" value="qRef:JOINT_VALUE"/>
<property name="inport" value="dqRef:JOINT_VELOCITY"/>
<property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
<property name="outport" value="q:JOINT_VALUE"/>
<property name="outport" value="dq:JOINT_VELOCITY"/>
<property name="outport" value="tau:JOINT_TORQUE"/>
<property name="outport" value="WAIST:WAIST:ABS_TRANSFORM"/>
<property name="outport" value="rfsensor:rfsensor:FORCE_SENSOR"/>
<property name="outport" value="lfsensor:lfsensor:FORCE_SENSOR"/>
<property name="outport" value="rhsensor:rhsensor:FORCE_SENSOR"/>
<property name="outport" value="lhsensor:lhsensor:FORCE_SENSOR"/>
<property name="outport" value="gyrometer:gyrometer:RATE_GYRO_SENSOR"/>
<property name="outport" value="gsensor:gsensor:ACCELERATION_SENSOR"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 1.0185"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
<property name="WAIST.mode" value="Torque"/>
<property name="controller" value="JAXON"/>
<property name="RLEG_JOINT0.angle" value="0.0"/>
<property name="RLEG_JOINT0.mode" value="HighGain"/>
<property name="RLEG_JOINT0.NumOfAABB" value="1"/>
<property name="RLEG_JOINT1.angle" value="0.0"/>
<property name="RLEG_JOINT1.mode" value="HighGain"/>
<property name="RLEG_JOINT1.NumOfAABB" value="1"/>
<property name="RLEG_JOINT2.angle" value="0.0"/>
<property name="RLEG_JOINT2.mode" value="HighGain"/>
<property name="RLEG_JOINT2.NumOfAABB" value="1"/>
<property name="RLEG_JOINT3.angle" value="0.0"/>
<property name="RLEG_JOINT3.mode" value="HighGain"/>
<property name="RLEG_JOINT3.NumOfAABB" value="1"/>
<property name="RLEG_JOINT4.angle" value="0.0"/>
<property name="RLEG_JOINT4.mode" value="HighGain"/>
<property name="RLEG_JOINT4.NumOfAABB" value="1"/>
<property name="RLEG_JOINT5.angle" value="0.0"/>
<property name="RLEG_JOINT5.mode" value="HighGain"/>
<property name="RLEG_JOINT5.NumOfAABB" value="1"/>
<property name="LLEG_JOINT0.angle" value="0.0"/>
<property name="LLEG_JOINT0.mode" value="HighGain"/>
<property name="LLEG_JOINT0.NumOfAABB" value="1"/>
<property name="LLEG_JOINT1.angle" value="0.0"/>
<property name="LLEG_JOINT1.mode" value="HighGain"/>
<property name="LLEG_JOINT1.NumOfAABB" value="1"/>
<property name="LLEG_JOINT2.angle" value="0.0"/>
<property name="LLEG_JOINT2.mode" value="HighGain"/>
<property name="LLEG_JOINT2.NumOfAABB" value="1"/>
<property name="LLEG_JOINT3.angle" value="0.0"/>
<property name="LLEG_JOINT3.mode" value="HighGain"/>
<property name="LLEG_JOINT3.NumOfAABB" value="1"/>
<property name="LLEG_JOINT4.angle" value="0.0"/>
<property name="LLEG_JOINT4.mode" value="HighGain"/>
<property name="LLEG_JOINT4.NumOfAABB" value="1"/>
<property name="LLEG_JOINT5.angle" value="0.0"/>
<property name="LLEG_JOINT5.mode" value="HighGain"/>
<property name="LLEG_JOINT5.NumOfAABB" value="1"/>
<property name="CHEST_JOINT0.angle" value="0.0"/>
<property name="CHEST_JOINT0.mode" value="HighGain"/>
<property name="CHEST_JOINT0.NumOfAABB" value="1"/>
<property name="CHEST_JOINT1.angle" value="0.0"/>
<property name="CHEST_JOINT1.mode" value="HighGain"/>
<property name="CHEST_JOINT1.NumOfAABB" value="1"/>
<property name="CHEST_JOINT2.angle" value="0.0"/>
<property name="CHEST_JOINT2.mode" value="HighGain"/>
<property name="CHEST_JOINT2.NumOfAABB" value="1"/>
<property name="HEAD_JOINT0.angle" value="0.0"/>
<property name="HEAD_JOINT0.mode" value="HighGain"/>
<property name="HEAD_JOINT0.NumOfAABB" value="1"/>
<property name="HEAD_JOINT1.angle" value="0.0"/>
<property name="HEAD_JOINT1.mode" value="HighGain"/>
<property name="HEAD_JOINT1.NumOfAABB" value="1"/>
<property name="RARM_JOINT0.angle" value="0.0"/>
<property name="RARM_JOINT0.mode" value="HighGain"/>
<property name="RARM_JOINT0.NumOfAABB" value="1"/>
<property name="RARM_JOINT1.angle" value="0.0"/>
<property name="RARM_JOINT1.mode" value="HighGain"/>
<property name="RARM_JOINT1.NumOfAABB" value="1"/>
<property name="RARM_JOINT2.angle" value="-0.191986"/>
<property name="RARM_JOINT2.mode" value="HighGain"/>
<property name="RARM_JOINT2.NumOfAABB" value="1"/>
<property name="RARM_JOINT3.angle" value="0.0"/>
<property name="RARM_JOINT3.mode" value="HighGain"/>
<property name="RARM_JOINT3.NumOfAABB" value="1"/>
<property name="RARM_JOINT4.angle" value="0.0"/>
<property name="RARM_JOINT4.mode" value="HighGain"/>
<property name="RARM_JOINT4.NumOfAABB" value="1"/>
<property name="RARM_JOINT5.angle" value="0.0"/>
<property name="RARM_JOINT5.mode" value="HighGain"/>
<property name="RARM_JOINT5.NumOfAABB" value="1"/>
<property name="RARM_JOINT6.angle" value="0.0"/>
<property name="RARM_JOINT6.mode" value="HighGain"/>
<property name="RARM_JOINT6.NumOfAABB" value="1"/>
<property name="RARM_JOINT7.angle" value="0.0"/>
<property name="RARM_JOINT7.mode" value="HighGain"/>
<property name="RARM_JOINT7.NumOfAABB" value="1"/>
<property name="LARM_JOINT0.angle" value="0.0"/>
<property name="LARM_JOINT0.mode" value="HighGain"/>
<property name="LARM_JOINT0.NumOfAABB" value="1"/>
<property name="LARM_JOINT1.angle" value="0.0"/>
<property name="LARM_JOINT1.mode" value="HighGain"/>
<property name="LARM_JOINT1.NumOfAABB" value="1"/>
<property name="LARM_JOINT2.angle" value="0.191986"/>
<property name="LARM_JOINT2.mode" value="HighGain"/>
<property name="LARM_JOINT2.NumOfAABB" value="1"/>
<property name="LARM_JOINT3.angle" value="0.0"/>
<property name="LARM_JOINT3.mode" value="HighGain"/>
<property name="LARM_JOINT3.NumOfAABB" value="1"/>
<property name="LARM_JOINT4.angle" value="0.0"/>
<property name="LARM_JOINT4.mode" value="HighGain"/>
<property name="LARM_JOINT4.NumOfAABB" value="1"/>
<property name="LARM_JOINT5.angle" value="0.0"/>
<property name="LARM_JOINT5.mode" value="HighGain"/>
<property name="LARM_JOINT5.NumOfAABB" value="1"/>
<property name="LARM_JOINT6.angle" value="0.0"/>
<property name="LARM_JOINT6.mode" value="HighGain"/>
<property name="LARM_JOINT6.NumOfAABB" value="1"/>
<property name="LARM_JOINT7.angle" value="0.0"/>
<property name="LARM_JOINT7.mode" value="HighGain"/>
<property name="LARM_JOINT7.NumOfAABB" value="1"/>
</item>
<view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
<property name="robotHost" value="localhost"/>
<property name="StateHolderRTC" value="StateHolder0"/>
<property name="interval" value="100"/>
<property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
<property name="robotPort" value="2809"/>
<property name="ROBOT" value="JAXON"/>
</view>
<view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
<property name="view.mode" value="Room"/>
<property name="showCoM" value="false"/>
<property name="showCoMonFloor" value="false"/>
<property name="showDistance" value="false"/>
<property name="showIntersection" value="false"/>
<property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.8 0 0 0 1 "/>
<property name="showCollision" value="true"/>
<property name="showActualState" value="true"/>
<property name="showScale" value="true"/>
</view>
<item class="com.generalrobotix.ui.item.GrxRTSItem" name="longfloor" select="true">
<property name="longfloor(Robot)0.period" value="0.002"/>
<property name="HGcontroller0.period" value="0.002"/>
<property name="HGcontroller0.factory" value="HGcontroller"/>
</item>
<item class="com.generalrobotix.ui.item.GrxModelItem" name="longfloor" url="/opt/ros/indigo/share/OpenHRP-3.1/sample/model/longfloor.wrl">
<property name="rtcName" value="longfloor(Robot)0"/>
<property name="inport" value="qRef:JOINT_VALUE"/>
<property name="inport" value="dqRef:JOINT_VELOCITY"/>
<property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
<property name="outport" value="q:JOINT_VALUE"/>
<property name="outport" value="dq:JOINT_VELOCITY"/>
<property name="outport" value="tau:JOINT_TORQUE"/>
<property name="outport" value="WAIST:WAIST:ABS_TRANSFORM"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 -0.1"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
</item>
<view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
<property name="robotHost" value="localhost"/>
<property name="StateHolderRTC" value="StateHolder0"/>
<property name="interval" value="100"/>
<property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
<property name="robotPort" value="2809"/>
<property name="ROBOT" value="longfloor"/>
</view>
<view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
<property name="view.mode" value="Room"/>
<property name="showCoM" value="false"/>
<property name="showCoMonFloor" value="false"/>
<property name="showDistance" value="false"/>
<property name="showIntersection" value="false"/>
<property name="eyeHomePosition" value="-0.70711 -0 0.70711 2.75 0.70711 -0 0.70711 2.75 0 1 0 0.9 0 0 0 1 "/>
<property name="showCollision" value="true"/>
<property name="showActualState" value="true"/>
<property name="showScale" value="true"/>
</view>
<item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#longfloor_#JAXONmain_">
<property name="springConstant" value="0 0 0 0 0 0"/>
<property name="slidingFriction" value="0.5"/>
<property name="jointName2" value=""/>
<property name="jointName1" value=""/>
<property name="damperConstant" value="0 0 0 0 0 0"/>
<property name="objectName2" value="longfloor"/>
<property name="objectName1" value="JAXON_JVRC"/>
<property name="springDamperModel" value="false"/>
<property name="staticFriction" value="0.5"/>
</item>
</mode>
</grxui>
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