diff --git a/hrpsys_ros_bridge_tutorials/CMakeLists.txt b/hrpsys_ros_bridge_tutorials/CMakeLists.txt
index 5e2b7745..c1b61b8c 100644
--- a/hrpsys_ros_bridge_tutorials/CMakeLists.txt
+++ b/hrpsys_ros_bridge_tutorials/CMakeLists.txt
@@ -277,6 +277,11 @@ if(EXISTS ${hrp2_models_MODEL_DIR}/HRP3HAND_R/HRP3HAND_Rmain.wrl)
HRP3HAND_R)
endif()
+# HIRONX
+compile_openhrp_model_for_closed_robots(HIRONX HIRONX HIRONX
+ --conf-file-option "end_effectors: rarm,RARM_JOINT5,CHEST_JOINT0,-0.05,0,0,0,1,0,1.5708, larm,LARM_JOINT5,CHEST_JOINT0,-0.05,0,0,0,1,0,1.5708,"
+ )
+
# URATALEG
compile_rbrain_model_for_closed_robots(URATALEG URATALEG URATALEG
--robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
@@ -459,6 +464,7 @@ generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2JSK
generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2W_for_OpenHRP3 HRP2W "--use-robot-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP2G_for_OpenHRP3 HRP2G "--use-robot-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HRP4R HRP4R "--use-unstable-hrpsys-config")
+generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots(HIRONX HIRONX "--use-robot-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_rbrain_robots(STARO STARO "--use-unstable-hrpsys-config")
generate_default_launch_eusinterface_files_for_jsk_closed_rbrain_robots(JAXON JAXON "--use-robot-hrpsys-config")
if("$ENV{TRAVIS_JOB_ID}" STREQUAL "")
diff --git a/hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-example.l b/hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-example.l
deleted file mode 100644
index 66c7a1be..00000000
--- a/hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-example.l
+++ /dev/null
@@ -1,17 +0,0 @@
-(ros::roseus "kawadahironx_pickbox")
-(load "package://hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-interface.l")
-
-(kawada-hironx-init)
-(dotimes (i 10)
- (send *hiro* :reset-pose)
- ;;(objects (list *hiro*))
- (send *ri* :angle-vector (send *hiro* :angle-vector) 3000)
- (send *ri* :wait-interpolation)
- (send *hiro* :rarm :shoulder-p :joint-angle -40)
- (send *hiro* :rarm :elbow-p :joint-angle -130)
- (send *hiro* :head :neck-y :joint-angle -20)
- ;;(objects (list *hiro*))
- (send *ri* :angle-vector (send *hiro* :angle-vector) 3000)
- (send *ri* :wait-interpolation)
- )
-(warning-message 2 ";; type (exit) to finish program~%")
diff --git a/hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-interface.l b/hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-interface.l
deleted file mode 100644
index 2467be0e..00000000
--- a/hrpsys_ros_bridge_tutorials/euslisp/kawada-hironx-interface.l
+++ /dev/null
@@ -1,15 +0,0 @@
-(load "package://hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l")
-(require :kawadahironx "package://hrpsys_ros_bridge_tutorials/models/kawada-hironx.l")
-
-(defclass kawadahironx-interface
- :super rtm-ros-robot-interface
- :slots ())
-(defmethod kawadahironx-interface
- (:init (&rest args)
- (send-super :init :robot hironx-robot)))
-
-(defun kawada-hironx-init (&rest args)
- (if (not (boundp '*ri*))
- (setq *ri* (instance* kawadahironx-interface :init args)))
- (if (not (boundp '*hiro*))
- (setq *hiro* (instance hironx-robot :init))))
diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx.launch b/hrpsys_ros_bridge_tutorials/launch/hironx.launch
deleted file mode 100644
index 825acad2..00000000
--- a/hrpsys_ros_bridge_tutorials/launch/hironx.launch
+++ /dev/null
@@ -1,44 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch b/hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch
deleted file mode 100644
index 15367dea..00000000
--- a/hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch
+++ /dev/null
@@ -1,45 +0,0 @@
-
-
-
-
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-
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-
-
-
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-
diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch b/hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch
deleted file mode 100644
index 5a50982b..00000000
--- a/hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
-
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-
-
-
-
-
diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch b/hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch
deleted file mode 100644
index 1c63f32e..00000000
--- a/hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-
-
-
-
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diff --git a/hrpsys_ros_bridge_tutorials/models/kawada-hironx.yaml b/hrpsys_ros_bridge_tutorials/models/hironx.yaml
similarity index 84%
rename from hrpsys_ros_bridge_tutorials/models/kawada-hironx.yaml
rename to hrpsys_ros_bridge_tutorials/models/hironx.yaml
index 130fce33..e0e6d122 100644
--- a/hrpsys_ros_bridge_tutorials/models/kawada-hironx.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/hironx.yaml
@@ -41,6 +41,5 @@ head-end-coords:
angle-vector:
reset-pose : [0.0, -40.0, -90.0, 0.0, 0.0, 0.0, 0.0, -40.0, -90.0, 0.0, 0.0, 0.0, 0.0, 0.0, 30.0]
off-pose : [0.0,-140.0,-158.0, 0.0, 0.0, 0.0, 0.0,-140.0,-158.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-
-
-
+ ## _InitialPose in hironx_client.py in hironx_ros_bridge (used in goInitial())
+ reset-manip-pose : [-0.6, 0.0, -100.0, 15.2, 9.4, 3.2, 0.6, 0.0, -100.0, -15.2, 9.4, -3.2, 0.0, 0.0, 0.0]