Make backup of /opt/jsk/etc/HIRONX/hrprtc/Robot.conf

Author: pazeshun

hrpsys_ros_bridge_tutorials/CMakeLists.txt

@@ -279,7 +279,24 @@ endif()
 
 # HIRONXJSK
 compile_openhrp_model_for_closed_robots(HIRONXJSK HIRONXJSK HIRONXJSK
+  --conf-dt-option "0.005"
+  --conf-file-option "# This conf should be backup of /opt/jsk/etc/HIRONX/hrprtc/Robot.conf inside HIRONXJSK"
+  --conf-file-option "# model should be /opt/jsk/etc/HIRONX/model/main.wrl inside HIRONXJSK"
+  --conf-file-option "pdgains.file_name: /opt/jsk/etc/HIRONX/hrprtc/PDgains.sav"
+  --conf-file-option "naming.formats: %n.rtc"
+  --conf-file-option "# RTC disable/enable settings which will be loaded via RobotHardware"
+  --conf-file-option "CollisionDetector.enable: YES"
+  --conf-file-option "# for HIRO hand servo"
+  --conf-file-option "servo.id: 2,3,4,5, 6,7,8,9"
+  --conf-file-option "servo.offset: -0.80,0.0,-0.85,0.0, -0.85,0.0,-0.89,0.0"
+  --conf-file-option "servo.devname: /dev/serusb1"
+  --conf-file-option "servo.dir 1,1,-1,-1,1,1,-1,-1"
+  --conf-file-option "# for RemoveForceSensorLinkOffset"
+  --conf-file-option "forcemoment_offset_params: /opt/jsk/etc/HIRONX/hrprtc/force_sensor_calib_20191127"
+  --conf-file-option "# for ImpedanceController"
   --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,"
+  --conf-file-option "# for CollisionDetector"
+  --conf-file-option "collision_pair: HEAD_JOINT0:RARM_JOINT2 HEAD_JOINT0:RARM_JOINT3 HEAD_JOINT0:RARM_JOINT4 HEAD_JOINT0:RARM_JOINT5 HEAD_JOINT0:LARM_JOINT2 HEAD_JOINT0:LARM_JOINT3 HEAD_JOINT0:LARM_JOINT4 HEAD_JOINT0:LARM_JOINT5 HEAD_JOINT1:RARM_JOINT2 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:LARM_JOINT2 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 WAIST:RARM_JOINT3 WAIST:RARM_JOINT4 WAIST:RARM_JOINT5 WAIST:LARM_JOINT3 WAIST:LARM_JOINT4 WAIST:LARM_JOINT5 CHEST_JOINT0:RARM_JOINT2 CHEST_JOINT0:RARM_JOINT3 CHEST_JOINT0:RARM_JOINT4 CHEST_JOINT0:RARM_JOINT5 CHEST_JOINT0:LARM_JOINT2 CHEST_JOINT0:LARM_JOINT3 CHEST_JOINT0:LARM_JOINT4 CHEST_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT1 RARM_JOINT0:LARM_JOINT2 RARM_JOINT0:LARM_JOINT3 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT1:LARM_JOINT0 RARM_JOINT1:LARM_JOINT1 RARM_JOINT1:LARM_JOINT2 RARM_JOINT1:LARM_JOINT3 RARM_JOINT1:LARM_JOINT4 RARM_JOINT1:LARM_JOINT5 RARM_JOINT2:LARM_JOINT0 RARM_JOINT2:LARM_JOINT1 RARM_JOINT2:LARM_JOINT2 RARM_JOINT2:LARM_JOINT3 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT3:LARM_JOINT0 RARM_JOINT3:LARM_JOINT1 RARM_JOINT3:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT1 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT1 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5"
   )
 
 # URATALEG