From 0793189b586437bcd33e4a2e23cce5c3996be2a3 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Sat, 29 May 2021 14:36:26 +0900 Subject: [PATCH] [hrpsys_ros_bridge_tutorials] fix hand_force_calib_offset_HRP2JSKNT* for HRP3HAND --- .../models/hand_force_calib_offset_HRP2JSKNTS_WITH_3HAND | 4 ++++ .../models/hand_force_calib_offset_HRP2JSKNT_WITH_3HAND | 4 ++++ .../src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py | 4 ++-- 3 files changed, 10 insertions(+), 2 deletions(-) create mode 100644 hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNTS_WITH_3HAND create mode 100644 hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNT_WITH_3HAND diff --git a/hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNTS_WITH_3HAND b/hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNTS_WITH_3HAND new file mode 100644 index 00000000..696d7897 --- /dev/null +++ b/hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNTS_WITH_3HAND @@ -0,0 +1,4 @@ +lfsensor 0 0 0 0 0 0 0 0 0 0 +lhsensor 0 0 0 0 0 0 0.0053811 0.00222186 -0.0248345 1.66181 +rfsensor 0 0 0 0 0 0 0 0 0 0 +rhsensor 0 0 0 0 0 0 0.0053811 -0.00222186 -0.0248345 1.66181 diff --git a/hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNT_WITH_3HAND b/hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNT_WITH_3HAND new file mode 100644 index 00000000..696d7897 --- /dev/null +++ b/hrpsys_ros_bridge_tutorials/models/hand_force_calib_offset_HRP2JSKNT_WITH_3HAND @@ -0,0 +1,4 @@ +lfsensor 0 0 0 0 0 0 0 0 0 0 +lhsensor 0 0 0 0 0 0 0.0053811 0.00222186 -0.0248345 1.66181 +rfsensor 0 0 0 0 0 0 0 0 0 0 +rhsensor 0 0 0 0 0 0 0.0053811 -0.00222186 -0.0248345 1.66181 diff --git a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py index 3bf0d267..3b3670ca 100755 --- a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py +++ b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py @@ -374,9 +374,9 @@ def setInitPose(self): def loadForceMomentOffsetFile (self): import rospkg if self.ROBOT_NAME == "HRP2JSKNT": - self.rmfo_svc.loadForceMomentOffsetParams(rospkg.RosPack().get_path('hrpsys_ros_bridge_tutorials')+"/models/hand_force_calib_offset_HRP2JSKNT") + self.rmfo_svc.loadForceMomentOffsetParams(rospkg.RosPack().get_path('hrpsys_ros_bridge_tutorials')+"/models/hand_force_calib_offset_HRP2JSKNT_WITH_3HAND") elif self.ROBOT_NAME == "HRP2JSKNTS": - self.rmfo_svc.loadForceMomentOffsetParams(rospkg.RosPack().get_path('hrpsys_ros_bridge_tutorials')+"/models/hand_force_calib_offset_HRP2JSKNTS") + self.rmfo_svc.loadForceMomentOffsetParams(rospkg.RosPack().get_path('hrpsys_ros_bridge_tutorials')+"/models/hand_force_calib_offset_HRP2JSKNTS_WITH_3HAND") elif self.ROBOT_NAME == "HRP2JSK": self.rmfo_svc.loadForceMomentOffsetParams(rospkg.RosPack().get_path('hrpsys_ros_bridge_tutorials')+"/models/hand_force_calib_offset_thumb_60deg_HRP2JSK") else: