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[hrpsys_gazebo_tutorials] add MODEL_TRANSLATE/ROTATE args for HRP2 #579

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[hrpsys_gazebo_tutorials] add MODEL_TRANSLATE/ROTATE args for HRP2 #579

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14 changes: 14 additions & 0 deletions hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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)" />
Expand All @@ -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>
14 changes: 14 additions & 0 deletions hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
<rosparam command="load"
Expand All @@ -19,5 +26,12 @@
<arg name="SYNCHRONIZED" value="$(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>
14 changes: 14 additions & 0 deletions hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
<rosparam command="load"
Expand All @@ -19,5 +26,12 @@
<arg name="SYNCHRONIZED" value="$(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>