From 2b3dfe170cd54ad3d9f3e6692d224c74a77aed9c Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 19 May 2020 16:49:03 +0900
Subject: [PATCH] [hrpsys_gazebo_tutorials] add MODEL_TRANSLATE/ROTATE args for
 HRP2

---
 .../launch/gazebo_hrp2jsk_no_controllers.launch    | 14 ++++++++++++++
 .../launch/gazebo_hrp2jsknt_no_controllers.launch  | 14 ++++++++++++++
 .../launch/gazebo_hrp2jsknts_no_controllers.launch | 14 ++++++++++++++
 3 files changed, 42 insertions(+)

diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch
index 55333648..591a27ae 100644
--- a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch
+++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch
@@ -4,6 +4,13 @@
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
+  <arg name="MODEL_TRANSLATE_X" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Y" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Z" default="0.73" />
+  <arg name="MODEL_ROTATE_R" default="0.0" />
+  <arg name="MODEL_ROTATE_P" default="0.0" />
+  <arg name="MODEL_ROTATE_Y" default="0.0" />
+
   <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSK" />
     <arg name="WORLD" value="$(arg WORLD)" />
@@ -14,5 +21,12 @@
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
+
+    <arg name="MODEL_TRANSLATE_X" value="$(arg MODEL_TRANSLATE_X)" />
+    <arg name="MODEL_TRANSLATE_Y" value="$(arg MODEL_TRANSLATE_Y)" />
+    <arg name="MODEL_TRANSLATE_Z" value="$(arg MODEL_TRANSLATE_Z)" />
+    <arg name="MODEL_ROTATE_R" value="$(arg MODEL_ROTATE_R)" />
+    <arg name="MODEL_ROTATE_P" value="$(arg MODEL_ROTATE_P)" />
+    <arg name="MODEL_ROTATE_Y" value="$(arg MODEL_ROTATE_Y)" />
   </include>
 </launch>
diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch
index 8e86ff08..96ca13b5 100644
--- a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch
+++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch
@@ -4,6 +4,13 @@
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
+  <arg name="MODEL_TRANSLATE_X" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Y" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Z" default="0.73" />
+  <arg name="MODEL_ROTATE_R" default="0.0" />
+  <arg name="MODEL_ROTATE_P" default="0.0" />
+  <arg name="MODEL_ROTATE_Y" default="0.0" />
+
   <rosparam command="load"
             file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
   <rosparam command="load"
@@ -19,5 +26,12 @@
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
+
+    <arg name="MODEL_TRANSLATE_X" value="$(arg MODEL_TRANSLATE_X)" />
+    <arg name="MODEL_TRANSLATE_Y" value="$(arg MODEL_TRANSLATE_Y)" />
+    <arg name="MODEL_TRANSLATE_Z" value="$(arg MODEL_TRANSLATE_Z)" />
+    <arg name="MODEL_ROTATE_R" value="$(arg MODEL_ROTATE_R)" />
+    <arg name="MODEL_ROTATE_P" value="$(arg MODEL_ROTATE_P)" />
+    <arg name="MODEL_ROTATE_Y" value="$(arg MODEL_ROTATE_Y)" />
   </include>
 </launch>
diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch
index 119e6074..5089182d 100644
--- a/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch
+++ b/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch
@@ -4,6 +4,13 @@
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
+  <arg name="MODEL_TRANSLATE_X" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Y" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Z" default="0.73" />
+  <arg name="MODEL_ROTATE_R" default="0.0" />
+  <arg name="MODEL_ROTATE_P" default="0.0" />
+  <arg name="MODEL_ROTATE_Y" default="0.0" />
+
   <rosparam command="load"
             file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
   <rosparam command="load"
@@ -19,5 +26,12 @@
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
+
+    <arg name="MODEL_TRANSLATE_X" value="$(arg MODEL_TRANSLATE_X)" />
+    <arg name="MODEL_TRANSLATE_Y" value="$(arg MODEL_TRANSLATE_Y)" />
+    <arg name="MODEL_TRANSLATE_Z" value="$(arg MODEL_TRANSLATE_Z)" />
+    <arg name="MODEL_ROTATE_R" value="$(arg MODEL_ROTATE_R)" />
+    <arg name="MODEL_ROTATE_P" value="$(arg MODEL_ROTATE_P)" />
+    <arg name="MODEL_ROTATE_Y" value="$(arg MODEL_ROTATE_Y)" />
   </include>
 </launch>