├── .github └── workflows │ ├── config.yml │ ├── python2.yml │ └── python3.yml ├── .gitignore ├── .gitmodules ├── .travis.rosinstall ├── .travis.rosinstall.hydro ├── .travis.yml ├── .travis_before_script_jsk_recognition_utils.bash ├── README.md ├── cmd_vel_smoother ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── cfg │ └── CmdVelSmoother.cfg ├── launch │ └── cmd_vel_smoother.launch ├── package.xml └── src │ └── cmd_vel_smoother.cpp ├── contact_states_observer ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── euslisp │ ├── contact-states-client.l │ ├── contact-states-observer.l │ └── grasp-client.l ├── launch │ └── contact_grasp_states_publisher.launch ├── msg │ ├── GraspReferenceData.msg │ ├── GraspState.msg │ ├── GraspStates.msg │ ├── OREContactState.msg │ └── OREContactStates.msg └── package.xml ├── eus_nlopt ├── CHANGELOG.rst ├── CMakeLists.txt ├── cmake │ └── FindNLopt.cmake ├── euslisp │ ├── ik │ │ ├── nlopt-ik-manager.l │ │ ├── nlopt-ik-node.l │ │ ├── nlopt-ik-overwrite.l │ │ └── nlopt-ik.l │ ├── nlopt-object.l │ └── nlopt.l ├── include │ ├── my_param.h │ └── nlopt_solver.h ├── launch │ └── nlopt_ik.launch ├── package.xml ├── path-tricker │ ├── gen-includes.sh │ └── includes.txt └── src │ ├── nlopt_solver.cpp │ ├── nlopt_wrapper.cpp │ └── test.cpp ├── eus_qp ├── 3rdparty │ └── eiquadprog.hpp ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── euslisp │ ├── cfr-cwc-calculation.l │ ├── contact-optimization.l │ ├── eiquadprog.l │ ├── model-predictive-control.l │ ├── test-cfr-cwc-calculation.l │ ├── test-contact-wrench-opt.l │ └── test-model-predictive-control.l ├── optmotiongen │ ├── README.md │ ├── config │ │ └── demo_optmotiongen_interactive.rviz │ ├── doc │ │ ├── generate-gif.l │ │ └── images │ │ │ ├── demo-2d-body-trajectory-with-msc.gif │ │ │ ├── demo-2d-body-trajectory-without-msc.gif │ │ │ ├── demo-fetch-elbow-stretch-with-stretch.gif │ │ │ ├── demo-fetch-elbow-stretch-without-stretch.gif │ │ │ ├── demo-hrp2jsknts-desk-reach-instant-without-torque.gif │ │ │ ├── demo-hrp2jsknts-desk-reach-instant.gif │ │ │ ├── demo-hrp2jsknts-desk-reach-trajectory-without-torque.gif │ │ │ ├── demo-hrp2jsknts-desk-reach-trajectory.gif │ │ │ ├── demo-pr2-regrasp-object.gif │ │ │ ├── sample-arm-reach-ik-face.gif │ │ │ ├── sample-arm-reach-ik-line.gif │ │ │ ├── sample-arm-reach-ik-obstacle.gif │ │ │ ├── sample-arm-reach-ik-posture.gif │ │ │ ├── sample-arm-reach-ik-raw-msc.gif │ │ │ ├── sample-arm-reach-ik-raw.gif │ │ │ ├── sample-arm-reach-ik-with-root-virtual-joint.gif │ │ │ ├── sample-arm-reach-ik.gif │ │ │ ├── sample-arm-reach-trajectory-ik-raw.gif │ │ │ ├── sample-arm-reach-trajectory-ik-with-root-virtual-joint-obstacle.gif │ │ │ ├── sample-arm-reach-trajectory-ik-with-root-virtual-joint.gif │ │ │ ├── sample-arm-reach-trajectory-ik.gif │ │ │ ├── sample-arm-sqp-bspline-config-task.gif │ │ │ ├── sample-robot-reach-ik-dual-arm-with-torso.gif │ │ │ ├── sample-robot-reach-ik-dual-arm.gif │ │ │ ├── sample-robot-reach-ik-fullbody.gif │ │ │ ├── sample-robot-reach-ik-limb.gif │ │ │ ├── sample-robot-reach-ik-raw-with-set-posture-look-at.gif │ │ │ ├── sample-robot-reach-ik-raw.gif │ │ │ ├── sample-robot-reach-ik.gif │ │ │ ├── sample-robot-reach-iks-face-without-torque.gif │ │ │ ├── sample-robot-reach-iks-face.gif │ │ │ ├── sample-robot-reach-iks-raw.gif │ │ │ ├── sample-robot-reach-iks-without-torque.gif │ │ │ ├── sample-robot-reach-iks.gif │ │ │ ├── sample-robot-reach-trajectory-ik-dual-arm-with-torso-no-mid-constraint.gif │ │ │ ├── sample-robot-reach-trajectory-ik-dual-arm-with-torso.gif │ │ │ ├── sample-robot-reach-trajectory-ik-fullbody.gif │ │ │ ├── sample-robot-reach-trajectory-iks-face-without-torque.gif │ │ │ ├── sample-robot-reach-trajectory-iks-face.gif │ │ │ ├── sample-robot-reach-trajectory-iks-raw.gif │ │ │ ├── sample-robot-reach-trajectory-iks-without-torque.gif │ │ │ ├── sample-robot-reach-trajectory-iks.gif │ │ │ ├── sample-robot-sqp-bspline-dynamic-config-task.gif │ │ │ ├── sample-robot-sqp-instant-manip-config-task-fix-obj-without-torque.gif │ │ │ ├── sample-robot-sqp-instant-manip-config-task-fix-obj.gif │ │ │ ├── sample-robot-sqp-instant-manip-config-task-without-torque.gif │ │ │ ├── sample-robot-sqp-instant-manip-config-task.gif │ │ │ ├── sample-sqp-msc-optimization-instant-only-kinematics.gif │ │ │ ├── sample-sqp-msc-optimization-instant-without-torque.gif │ │ │ ├── sample-sqp-optimization-bspline-dynamic.gif │ │ │ ├── sample-sqp-optimization-bspline.gif │ │ │ ├── sample-sqp-optimization-instant-manip-without-torque.gif │ │ │ ├── sample-sqp-optimization-instant-manip.gif │ │ │ ├── sample-sqp-optimization-instant-only-kinematics.gif │ │ │ ├── sample-sqp-optimization-instant-without-torque.gif │ │ │ ├── sample-sqp-optimization-instant.gif │ │ │ ├── sample-sqp-optimization-trajectory-manip-without-torque.gif │ │ │ ├── sample-sqp-optimization-trajectory-manip.gif │ │ │ ├── sample-sqp-optimization-trajectory-without-torque.gif │ │ │ └── sample-sqp-optimization-trajectory.gif │ ├── euslisp │ │ ├── bspline-configuration-task.l │ │ ├── bspline-dynamic-configuration-task.l │ │ ├── contact-kinematics.l │ │ ├── demo │ │ │ ├── demo-2d-body-trajectory.l │ │ │ ├── demo-darwin-toy-terrain.l │ │ │ ├── demo-fetch-elbow-stretch.l │ │ │ ├── demo-hironx-pick.l │ │ │ ├── demo-hrp2jsknts-desk-reach-instant.l │ │ │ ├── demo-hrp2jsknts-desk-reach-trajectory.l │ │ │ ├── demo-hrp2jsknts-line-face-reach.l │ │ │ ├── demo-jaxon-hand-force.l │ │ │ ├── demo-pr2-regrasp-object.l │ │ │ ├── demo-rhp4b-reach-suitcase.l │ │ │ ├── demo-rhp4b-step-block-terrain.l │ │ │ ├── demo-rhp4b-torque-gradient.l │ │ │ └── node │ │ │ │ └── demo-node-optmotiongen-interactive.l │ │ ├── discrete-kinematics-configuration-task.l │ │ ├── extended-joint-link.l │ │ ├── instant-configuration-task.l │ │ ├── instant-manipulation-configuration-task.l │ │ ├── inverse-kinematics-statics-wrapper.l │ │ ├── inverse-kinematics-wrapper.l │ │ ├── robot-environment.l │ │ ├── robot-object-environment.l │ │ ├── sample │ │ │ ├── sample-inverse-kinematics-statics.l │ │ │ ├── sample-inverse-kinematics.l │ │ │ ├── sample-samplerobot.l │ │ │ ├── sample-sqp-msc-optimization-instant.l │ │ │ ├── sample-sqp-optimization-bspline-dynamic.l │ │ │ ├── sample-sqp-optimization-bspline.l │ │ │ ├── sample-sqp-optimization-discrete-kinematics.l │ │ │ ├── sample-sqp-optimization-instant-manip.l │ │ │ ├── sample-sqp-optimization-instant.l │ │ │ ├── sample-sqp-optimization-trajectory-manip.l │ │ │ ├── sample-sqp-optimization-trajectory.l │ │ │ └── sample-torque-gradient.l │ │ ├── sqp-msc-optimization.l │ │ ├── sqp-optimization.l │ │ ├── torque-gradient.l │ │ ├── trajectory-configuration-task.l │ │ ├── util.l │ │ └── validate-jacobian.l │ ├── launch │ │ └── demo_optmotiongen_interactive.launch │ ├── logs │ │ └── sample-sqp-optimization-bspline.pdf │ ├── manual │ │ ├── Makefile │ │ ├── documentation.l │ │ ├── fundamental.tex │ │ ├── jlatex │ │ │ └── mytabbing.sty │ │ ├── manual.pdf │ │ ├── manual.tex │ │ ├── theory-bspline.tex │ │ ├── theory-discrete-ik.tex │ │ └── theory-sqp-msc-optimization.tex │ ├── scripts │ │ ├── bspline-configuration-task-plot-theta-graph-display-window.plt │ │ ├── bspline-configuration-task-plot-theta-graph-dump-pdf.plt │ │ └── generate_graph_from_config_task.py │ └── test │ │ ├── test-load-euslisp-files.bash │ │ ├── test-load-euslisp-files.l │ │ ├── test-load-euslisp-files.test │ │ ├── test-sample-inverse-kinematics-statics.l │ │ ├── test-sample-inverse-kinematics-statics.test │ │ ├── test-sample-inverse-kinematics.l │ │ ├── test-sample-inverse-kinematics.test │ │ ├── test-sample-torque-gradient.l │ │ ├── test-sample-torque-gradient.test │ │ ├── test-samplerobot.l │ │ └── test-samplerobot.test ├── package.xml ├── path-tricker │ ├── gen-includes.sh │ └── includes.txt ├── src │ ├── example.cpp │ └── qp_lib.cpp └── test │ ├── test_cfr_cwc_calculation.l │ ├── test_cfr_cwc_calculation.test │ ├── test_contact_wrench_opt.l │ ├── test_contact_wrench_opt.test │ ├── test_model_predictive_control.l │ └── test_model_predictive_control.test ├── eus_qpoases ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── euslisp │ ├── eus-qpoases.l │ └── test-eus-qpoases.l ├── examples │ └── example1.cpp ├── include │ └── .placeholder ├── lib │ └── .placeholder ├── mainpage.dox ├── package.xml ├── patch │ └── UseShareLibrary.patch ├── src │ └── eus_qpoases.cpp └── test │ ├── eus-qpoases.test.l │ └── eus_qpoases.test ├── eus_teleop ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── baxter.rosinstall ├── baxter.rosinstall.kinetic ├── baxter.rosinstall.melodic ├── config │ ├── baxter │ │ ├── d435_torso_pose.yaml │ │ ├── grasp_mask_rcnn_target_names.yaml │ │ ├── grasp_mask_rcnn_tote_contents.yaml │ │ ├── l515_torso_pose.yaml │ │ └── workspace_transformable_markers_client.yaml │ └── vive │ │ ├── default_vive_ids.yaml │ │ └── shmpwk_vive_ids.yaml ├── dragon.rosinstall ├── euslisp │ ├── baxter-teleop-main.l │ ├── dragon-teleop-main.l │ ├── jaxon-teleop-main.l │ ├── lib │ │ ├── baxter-interface.l │ │ ├── baxter-oculus-interface.l │ │ ├── baxter-spacenav-interface.l │ │ ├── baxter-tablis-interface.l │ │ ├── baxter-teleop-interface.l │ │ ├── baxter-util.l │ │ ├── baxter-vive-interface.l │ │ ├── dragon-spacenav-interface.l │ │ ├── dragon-teleop-interface.l │ │ ├── jaxon-spacenav-interface.l │ │ ├── jaxon-tablis-interface.l │ │ ├── jaxon-teleop-interface.l │ │ ├── pr2-oculus-interface.l │ │ ├── pr2-spacenav-interface.l │ │ ├── pr2-tablis-interface.l │ │ ├── pr2-teleop-interface.l │ │ ├── pr2-vive-interface.l │ │ ├── robot-move-base-oculus-interface.l │ │ ├── robot-move-base-spacenav-interface.l │ │ ├── robot-move-base-tablis-interface.l │ │ ├── robot-move-base-teleop-interface.l │ │ ├── robot-move-base-vive-interface.l │ │ ├── robot-oculus-interface.l │ │ ├── robot-spacenav-interface.l │ │ ├── robot-tablis-interface.l │ │ ├── robot-teleop-interface.l │ │ └── robot-vive-interface.l │ └── pr2-teleop-main.l ├── fc.rosinstall ├── launch │ ├── baxter │ │ ├── baxter.launch │ │ ├── baxter.machine │ │ ├── baxter_db_client.launch │ │ ├── baxter_grasp_mask_rcnn.launch │ │ ├── baxter_logging.launch │ │ ├── baxter_realsense_torso.launch │ │ ├── baxter_rosbag_play.launch │ │ ├── baxter_rosbag_record.launch │ │ ├── baxter_tabletop_object_detector.launch │ │ ├── baxter_teleop.launch │ │ ├── baxter_teleop_display.launch │ │ ├── baxter_teleop_gazebo.launch │ │ └── baxter_visualization.launch │ ├── dragon │ │ ├── dragon_teleop.launch │ │ └── dragon_teleop_gazebo.launch │ ├── include │ │ ├── audio_play.launch │ │ ├── elp_usb.launch │ │ ├── insta360_air.launch │ │ ├── kinfu.launch │ │ ├── kodak_pixpro.launch │ │ ├── mask_rcnn.launch │ │ ├── realsense.launch │ │ ├── realsense_d435.launch │ │ ├── realsense_l515.launch │ │ ├── respeaker.launch │ │ ├── rqt_gui.launch │ │ └── vive.launch │ ├── jaxon │ │ ├── jaxon_teleop.launch │ │ └── jaxon_teleop_choreonoid.launch │ ├── pr2 │ │ ├── pr2_logging.launch │ │ ├── pr2_teleop.launch │ │ ├── pr2_teleop_display.launch │ │ └── pr2_teleop_gazebo.launch │ └── tablis │ │ ├── tablis_bridge_follower.launch │ │ └── tablis_bridge_leader.launch ├── msg │ ├── EusTeleopStatus.msg │ └── EusTeleopStatusArray.msg ├── node_scripts │ ├── eus_teleop_status_sounder.py │ ├── eus_teleop_status_visualizer.py │ └── virtual_camera_info_publisher.py ├── package.xml ├── resource │ ├── gripper_button.perspective │ ├── gripper_button_layout.yaml │ ├── remote_tabbed_layout.yaml │ ├── reset_button.perspective │ └── reset_button_layout.yaml ├── rvizconfig │ ├── baxter │ │ ├── baxter_front_visualization.rviz │ │ ├── baxter_moveit.rviz │ │ ├── baxter_moveit_grasp_mask_rcnn.rviz │ │ ├── baxter_rosbag_play.rviz │ │ ├── baxter_teleop_display_visualization.rviz │ │ ├── baxter_teleop_hmd_left_visualization.rviz │ │ ├── baxter_teleop_hmd_right_visualization.rviz │ │ ├── baxter_teleop_hmd_visualization.rviz │ │ ├── baxter_teleop_mirror_visualization.rviz │ │ ├── baxter_teleop_remote_display_visualization.rviz │ │ ├── baxter_teleop_remote_hmd_left_visualization.rviz │ │ ├── baxter_teleop_remote_hmd_right_visualization.rviz │ │ ├── baxter_teleop_remote_hmd_visualization.rviz │ │ ├── baxter_top_visualization.rviz │ │ └── baxter_visualization.rviz │ └── pr2 │ │ ├── pr2_teleop_visualization.rviz │ │ └── pr2_teleop_visualization_with_kinfu.rviz ├── sample │ ├── common │ │ ├── baxter_display_remote.launch │ │ ├── baxter_moveit_remote.launch │ │ └── baxter_remote.launch │ ├── oculus │ │ ├── baxter │ │ │ ├── baxter_oculus.launch │ │ │ └── baxter_oculus_gazebo.launch │ │ └── pr2 │ │ │ ├── pr2_oculus.launch │ │ │ └── pr2_oculus_gazebo.launch │ ├── other │ │ └── baxter │ │ │ └── baxter_moveit.launch │ ├── spacenav │ │ ├── baxter │ │ │ ├── baxter_spacenav.launch │ │ │ └── baxter_spacenav_gazebo.launch │ │ ├── dragon │ │ │ ├── dragon_spacenav.launch │ │ │ └── dragon_spacenav_gazebo.launch │ │ ├── jaxon │ │ │ ├── jaxon_spacenav.launch │ │ │ └── jaxon_spacenav_choreonoid.launch │ │ └── pr2 │ │ │ ├── pr2_spacenav.launch │ │ │ └── pr2_spacenav_gazebo.launch │ ├── tablis │ │ ├── baxter │ │ │ ├── baxter_tablis.launch │ │ │ ├── baxter_tablis_gazebo.launch │ │ │ └── baxter_tablis_remote.launch │ │ ├── jaxon │ │ │ ├── jaxon_tablis.launch │ │ │ └── jaxon_tablis_choreonoid.launch │ │ └── pr2 │ │ │ ├── pr2_tablis.launch │ │ │ └── pr2_tablis_gazebo.launch │ └── vive │ │ ├── baxter │ │ ├── baxter_vive.launch │ │ ├── baxter_vive_gazebo.launch │ │ ├── baxter_vive_mirror.launch │ │ └── baxter_vive_remote.launch │ │ └── pr2 │ │ ├── pr2_vive.launch │ │ └── pr2_vive_gazebo.launch ├── scripts │ ├── env.sh │ ├── jaxon │ │ ├── jaxon_with_rhp3hand_setup.py │ │ ├── start-jaxon-eus-teleop-sim.sh │ │ └── start-jaxon_with_rhp3hand-sim.sh │ └── tablis │ │ ├── start-bridge-sim.sh │ │ ├── start-tablis-sim.sh │ │ └── tablis_setup.py ├── sounds │ ├── alert.wav │ ├── gripper.wav │ ├── start.wav │ ├── stop.wav │ └── warn.wav ├── tablis.rosinstall ├── udev │ ├── 99-elp.rules │ ├── 99-insta.rules │ └── 99-kodak.rules └── urdf │ ├── baxter.urdf.xacro │ ├── left_end_effector.urdf.xacro │ └── right_end_effector.urdf.xacro ├── joy_mouse ├── CHANGELOG.rst ├── CMakeLists.txt ├── Makefile ├── README.md ├── catkin.cmake ├── launch │ ├── kensington_trackball.launch │ └── trackpoint.launch ├── package.xml ├── scripts │ ├── disable_mouse.py │ ├── enable_mouse.py │ └── mouse.py ├── setup.py └── src │ └── joy_mouse │ ├── __init__.py │ ├── joy.py │ └── xinput.py ├── jsk_calibration ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ └── camera_calib.rviz ├── euslisp │ ├── calibration.l │ └── hrp2-calibration.l ├── hrp2jsknt_calibration │ ├── README.md │ ├── capture_data │ │ ├── all_pipelines.launch │ │ ├── all_viewers.launch │ │ ├── capture_data.launch │ │ ├── capture_exec.launch │ │ ├── hardware_config │ │ │ ├── cam_config.yaml │ │ │ ├── chain_config.yaml │ │ │ ├── controller_config.yaml │ │ │ └── laser_config.yaml │ │ ├── interval.launch │ │ ├── samples │ │ │ ├── 00_LARM │ │ │ │ ├── LARM_0000.yaml │ │ │ │ ├── LARM_0001.yaml │ │ │ │ ├── LARM_0002.yaml │ │ │ │ ├── LARM_0003.yaml │ │ │ │ ├── LARM_0004.yaml │ │ │ │ ├── LARM_0005.yaml │ │ │ │ ├── LARM_0006.yaml │ │ │ │ ├── LARM_0007.yaml │ │ │ │ ├── LARM_0008.yaml │ │ │ │ ├── LARM_0009.yaml │ │ │ │ ├── LARM_0010.yaml │ │ │ │ ├── LARM_0011.yaml │ │ │ │ ├── LARM_0012.yaml │ │ │ │ ├── LARM_0013.yaml │ │ │ │ ├── LARM_0014.yaml │ │ │ │ ├── LARM_0015.yaml │ │ │ │ ├── LARM_0016.yaml │ │ │ │ ├── LARM_0017.yaml │ │ │ │ ├── LARM_0018.yaml │ │ │ │ ├── LARM_0019.yaml │ │ │ │ ├── LARM_0020.yaml │ │ │ │ ├── LARM_0021.yaml │ │ │ │ ├── LARM_0022.yaml │ │ │ │ ├── LARM_0023.yaml │ │ │ │ ├── LARM_0024.yaml │ │ │ │ ├── LARM_0025.yaml │ │ │ │ ├── LARM_0026.yaml │ │ │ │ ├── LARM_0027.yaml │ │ │ │ ├── LARM_0028.yaml │ │ │ │ ├── LARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ ├── 01_RARM │ │ │ │ ├── RARM_0000.yaml │ │ │ │ ├── RARM_0001.yaml │ │ │ │ ├── RARM_0002.yaml │ │ │ │ ├── RARM_0003.yaml │ │ │ │ ├── RARM_0004.yaml │ │ │ │ ├── RARM_0005.yaml │ │ │ │ ├── RARM_0006.yaml │ │ │ │ ├── RARM_0007.yaml │ │ │ │ ├── RARM_0008.yaml │ │ │ │ ├── RARM_0009.yaml │ │ │ │ ├── RARM_0010.yaml │ │ │ │ ├── RARM_0011.yaml │ │ │ │ ├── RARM_0012.yaml │ │ │ │ ├── RARM_0013.yaml │ │ │ │ ├── RARM_0014.yaml │ │ │ │ ├── RARM_0015.yaml │ │ │ │ ├── RARM_0016.yaml │ │ │ │ ├── RARM_0017.yaml │ │ │ │ ├── RARM_0018.yaml │ │ │ │ ├── RARM_0019.yaml │ │ │ │ ├── RARM_0020.yaml │ │ │ │ ├── RARM_0021.yaml │ │ │ │ ├── RARM_0022.yaml │ │ │ │ ├── RARM_0023.yaml │ │ │ │ ├── RARM_0024.yaml │ │ │ │ ├── RARM_0025.yaml │ │ │ │ ├── RARM_0026.yaml │ │ │ │ ├── RARM_0027.yaml │ │ │ │ ├── RARM_0028.yaml │ │ │ │ ├── RARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ └── initial_poses.yaml │ │ └── settler.launch │ ├── estimate_params │ │ ├── calibrate_hrp2jsknt.sh │ │ ├── config │ │ │ ├── free_arms.yaml │ │ │ ├── free_cameras.yaml │ │ │ ├── free_cb_locations.yaml │ │ │ ├── free_torso.yaml │ │ │ └── system.yaml │ │ └── hrp2jsknt_estimation_config.launch │ ├── images │ │ ├── model.dot │ │ └── model.png │ └── view_results │ │ ├── pose_guess.rviz │ │ ├── scatter_config.yaml │ │ └── view_scatter.sh ├── hrp2jsknts_calibration │ ├── README.md │ ├── capture_data │ │ ├── all_pipelines.launch │ │ ├── all_viewers.launch │ │ ├── capture_data.launch │ │ ├── capture_exec.launch │ │ ├── hardware_config │ │ │ ├── cam_config.yaml │ │ │ ├── chain_config.yaml │ │ │ ├── controller_config.yaml │ │ │ └── laser_config.yaml │ │ ├── interval.launch │ │ ├── samples │ │ │ ├── 00_LARM │ │ │ │ ├── LARM_0000.yaml │ │ │ │ ├── LARM_0001.yaml │ │ │ │ ├── LARM_0002.yaml │ │ │ │ ├── LARM_0003.yaml │ │ │ │ ├── LARM_0004.yaml │ │ │ │ ├── LARM_0005.yaml │ │ │ │ ├── LARM_0006.yaml │ │ │ │ ├── LARM_0007.yaml │ │ │ │ ├── LARM_0008.yaml │ │ │ │ ├── LARM_0009.yaml │ │ │ │ ├── LARM_0010.yaml │ │ │ │ ├── LARM_0011.yaml │ │ │ │ ├── LARM_0012.yaml │ │ │ │ ├── LARM_0013.yaml │ │ │ │ ├── LARM_0014.yaml │ │ │ │ ├── LARM_0015.yaml │ │ │ │ ├── LARM_0016.yaml │ │ │ │ ├── LARM_0017.yaml │ │ │ │ ├── LARM_0018.yaml │ │ │ │ ├── LARM_0019.yaml │ │ │ │ ├── LARM_0020.yaml │ │ │ │ ├── LARM_0021.yaml │ │ │ │ ├── LARM_0022.yaml │ │ │ │ ├── LARM_0023.yaml │ │ │ │ ├── LARM_0024.yaml │ │ │ │ ├── LARM_0025.yaml │ │ │ │ ├── LARM_0026.yaml │ │ │ │ ├── LARM_0027.yaml │ │ │ │ ├── LARM_0028.yaml │ │ │ │ ├── LARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ ├── 01_RARM │ │ │ │ ├── RARM_0000.yaml │ │ │ │ ├── RARM_0001.yaml │ │ │ │ ├── RARM_0002.yaml │ │ │ │ ├── RARM_0003.yaml │ │ │ │ ├── RARM_0004.yaml │ │ │ │ ├── RARM_0005.yaml │ │ │ │ ├── RARM_0006.yaml │ │ │ │ ├── RARM_0007.yaml │ │ │ │ ├── RARM_0008.yaml │ │ │ │ ├── RARM_0009.yaml │ │ │ │ ├── RARM_0010.yaml │ │ │ │ ├── RARM_0011.yaml │ │ │ │ ├── RARM_0012.yaml │ │ │ │ ├── RARM_0013.yaml │ │ │ │ ├── RARM_0014.yaml │ │ │ │ ├── RARM_0015.yaml │ │ │ │ ├── RARM_0016.yaml │ │ │ │ ├── RARM_0017.yaml │ │ │ │ ├── RARM_0018.yaml │ │ │ │ ├── RARM_0019.yaml │ │ │ │ ├── RARM_0020.yaml │ │ │ │ ├── RARM_0021.yaml │ │ │ │ ├── RARM_0022.yaml │ │ │ │ ├── RARM_0023.yaml │ │ │ │ ├── RARM_0024.yaml │ │ │ │ ├── RARM_0025.yaml │ │ │ │ ├── RARM_0026.yaml │ │ │ │ ├── RARM_0027.yaml │ │ │ │ ├── RARM_0028.yaml │ │ │ │ ├── RARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ └── initial_poses.yaml │ │ └── settler.launch │ ├── estimate_params │ │ ├── calibrate_hrp2jsknts.sh │ │ ├── config │ │ │ ├── free_arms.yaml │ │ │ ├── free_cameras.yaml │ │ │ ├── free_cb_locations.yaml │ │ │ ├── free_torso.yaml │ │ │ └── system.yaml │ │ └── hrp2jsknts_estimation_config.launch │ └── images │ │ ├── model.dot │ │ └── model.png ├── hrp2w_calibration │ ├── README.md │ ├── capture_data │ │ ├── all_pipelines.launch │ │ ├── all_viewers.launch │ │ ├── capture_data.launch │ │ ├── capture_exec.launch │ │ ├── hardware_config │ │ │ ├── cam_config.yaml │ │ │ ├── chain_config.yaml │ │ │ ├── controller_config.yaml │ │ │ └── laser_config.yaml │ │ ├── interval.launch │ │ ├── samples │ │ │ ├── 00_LARM │ │ │ │ ├── LARM_0000.yaml │ │ │ │ ├── LARM_0001.yaml │ │ │ │ ├── LARM_0002.yaml │ │ │ │ ├── LARM_0003.yaml │ │ │ │ ├── LARM_0004.yaml │ │ │ │ ├── LARM_0005.yaml │ │ │ │ ├── LARM_0006.yaml │ │ │ │ ├── LARM_0007.yaml │ │ │ │ ├── LARM_0008.yaml │ │ │ │ ├── LARM_0009.yaml │ │ │ │ ├── LARM_0010.yaml │ │ │ │ ├── LARM_0011.yaml │ │ │ │ ├── LARM_0012.yaml │ │ │ │ ├── LARM_0013.yaml │ │ │ │ ├── LARM_0014.yaml │ │ │ │ ├── LARM_0015.yaml │ │ │ │ ├── LARM_0016.yaml │ │ │ │ ├── LARM_0017.yaml │ │ │ │ ├── LARM_0018.yaml │ │ │ │ ├── LARM_0019.yaml │ │ │ │ ├── LARM_0020.yaml │ │ │ │ ├── LARM_0021.yaml │ │ │ │ ├── LARM_0022.yaml │ │ │ │ ├── LARM_0023.yaml │ │ │ │ ├── LARM_0024.yaml │ │ │ │ ├── LARM_0025.yaml │ │ │ │ ├── LARM_0026.yaml │ │ │ │ ├── LARM_0027.yaml │ │ │ │ ├── LARM_0028.yaml │ │ │ │ ├── LARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ ├── 01_RARM │ │ │ │ ├── RARM_0000.yaml │ │ │ │ ├── RARM_0001.yaml │ │ │ │ ├── RARM_0002.yaml │ │ │ │ ├── RARM_0003.yaml │ │ │ │ ├── RARM_0004.yaml │ │ │ │ ├── RARM_0005.yaml │ │ │ │ ├── RARM_0006.yaml │ │ │ │ ├── RARM_0007.yaml │ │ │ │ ├── RARM_0008.yaml │ │ │ │ ├── RARM_0009.yaml │ │ │ │ ├── RARM_0010.yaml │ │ │ │ ├── RARM_0011.yaml │ │ │ │ ├── RARM_0012.yaml │ │ │ │ ├── RARM_0013.yaml │ │ │ │ ├── RARM_0014.yaml │ │ │ │ ├── RARM_0015.yaml │ │ │ │ ├── RARM_0016.yaml │ │ │ │ ├── RARM_0017.yaml │ │ │ │ ├── RARM_0018.yaml │ │ │ │ ├── RARM_0019.yaml │ │ │ │ ├── RARM_0020.yaml │ │ │ │ ├── RARM_0021.yaml │ │ │ │ ├── RARM_0022.yaml │ │ │ │ ├── RARM_0023.yaml │ │ │ │ ├── RARM_0024.yaml │ │ │ │ ├── RARM_0025.yaml │ │ │ │ ├── RARM_0026.yaml │ │ │ │ ├── RARM_0027.yaml │ │ │ │ ├── RARM_0028.yaml │ │ │ │ ├── RARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ └── initial_poses.yaml │ │ └── settler.launch │ ├── estimate_params │ │ ├── calibrate_hrp2w.sh │ │ ├── config │ │ │ ├── free_arms.yaml │ │ │ ├── free_cameras.yaml │ │ │ ├── free_cb_locations.yaml │ │ │ ├── free_torso.yaml │ │ │ └── system.yaml │ │ └── hrp2w_estimation_config.launch │ └── view_results │ │ ├── pose_guess.rviz │ │ ├── scatter_config.yaml │ │ └── view_scatter.sh ├── images │ └── pose_guesses.png ├── jaxon_calibration │ ├── capture_data │ │ ├── all_pipelines.launch │ │ ├── all_viewers.launch │ │ ├── capture_data.launch │ │ ├── capture_exec.launch │ │ ├── hardware_config │ │ │ ├── cam_config.yaml │ │ │ ├── chain_config.yaml │ │ │ ├── controller_config.yaml │ │ │ └── laser_config.yaml │ │ ├── interval.launch │ │ ├── samples │ │ │ ├── 00_LARM │ │ │ │ ├── LARM_0000.yaml │ │ │ │ ├── LARM_0001.yaml │ │ │ │ ├── LARM_0002.yaml │ │ │ │ ├── LARM_0003.yaml │ │ │ │ ├── LARM_0004.yaml │ │ │ │ ├── LARM_0005.yaml │ │ │ │ ├── LARM_0006.yaml │ │ │ │ ├── LARM_0007.yaml │ │ │ │ ├── LARM_0008.yaml │ │ │ │ ├── LARM_0009.yaml │ │ │ │ ├── LARM_0010.yaml │ │ │ │ ├── LARM_0011.yaml │ │ │ │ ├── LARM_0012.yaml │ │ │ │ ├── LARM_0013.yaml │ │ │ │ ├── LARM_0014.yaml │ │ │ │ ├── LARM_0015.yaml │ │ │ │ ├── LARM_0016.yaml │ │ │ │ ├── LARM_0017.yaml │ │ │ │ ├── LARM_0018.yaml │ │ │ │ ├── LARM_0019.yaml │ │ │ │ ├── LARM_0020.yaml │ │ │ │ ├── LARM_0021.yaml │ │ │ │ ├── LARM_0022.yaml │ │ │ │ ├── LARM_0023.yaml │ │ │ │ ├── LARM_0024.yaml │ │ │ │ ├── LARM_0025.yaml │ │ │ │ ├── LARM_0026.yaml │ │ │ │ ├── LARM_0027.yaml │ │ │ │ ├── LARM_0028.yaml │ │ │ │ ├── LARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ ├── 01_RARM │ │ │ │ ├── RARM_0000.yaml │ │ │ │ ├── RARM_0001.yaml │ │ │ │ ├── RARM_0002.yaml │ │ │ │ ├── RARM_0003.yaml │ │ │ │ ├── RARM_0004.yaml │ │ │ │ ├── RARM_0005.yaml │ │ │ │ ├── RARM_0006.yaml │ │ │ │ ├── RARM_0007.yaml │ │ │ │ ├── RARM_0008.yaml │ │ │ │ ├── RARM_0009.yaml │ │ │ │ ├── RARM_0010.yaml │ │ │ │ ├── RARM_0011.yaml │ │ │ │ ├── RARM_0012.yaml │ │ │ │ ├── RARM_0013.yaml │ │ │ │ ├── RARM_0014.yaml │ │ │ │ ├── RARM_0015.yaml │ │ │ │ ├── RARM_0016.yaml │ │ │ │ ├── RARM_0017.yaml │ │ │ │ ├── RARM_0018.yaml │ │ │ │ ├── RARM_0019.yaml │ │ │ │ ├── RARM_0020.yaml │ │ │ │ ├── RARM_0021.yaml │ │ │ │ ├── RARM_0022.yaml │ │ │ │ ├── RARM_0023.yaml │ │ │ │ ├── RARM_0024.yaml │ │ │ │ ├── RARM_0025.yaml │ │ │ │ ├── RARM_0026.yaml │ │ │ │ ├── RARM_0027.yaml │ │ │ │ ├── RARM_0028.yaml │ │ │ │ ├── RARM_0029.yaml │ │ │ │ └── config.yaml │ │ │ └── initial_poses.yaml │ │ └── settler.launch │ ├── estimate_params │ │ ├── calibrate_jaxon.sh │ │ ├── config │ │ │ ├── free_arms.yaml │ │ │ ├── free_cameras.yaml │ │ │ ├── free_cb_locations.yaml │ │ │ ├── free_torso.yaml │ │ │ ├── non_free_arms.yaml │ │ │ └── system.yaml │ │ └── jaxon_estimation_config.launch │ ├── jaxon-calib-utils.l │ └── view_results │ │ ├── scatter_config.yaml │ │ └── view_scatter.sh ├── launch │ └── manual_calibration_viewer.launch ├── package.xml ├── scripts │ └── joint_states_appender.py └── staro_calibration │ ├── capture_data │ ├── all_pipelines.launch │ ├── all_viewers.launch │ ├── capture_data.launch │ ├── capture_exec.launch │ ├── hardware_config │ │ ├── cam_config.yaml │ │ ├── chain_config.yaml │ │ ├── controller_config.yaml │ │ └── laser_config.yaml │ ├── interval.launch │ ├── samples │ │ ├── 00_LARM │ │ │ ├── LARM_0000.yaml │ │ │ ├── LARM_0001.yaml │ │ │ ├── LARM_0002.yaml │ │ │ ├── LARM_0003.yaml │ │ │ ├── LARM_0004.yaml │ │ │ ├── LARM_0005.yaml │ │ │ ├── LARM_0006.yaml │ │ │ ├── LARM_0007.yaml │ │ │ ├── LARM_0008.yaml │ │ │ ├── LARM_0009.yaml │ │ │ ├── LARM_0010.yaml │ │ │ ├── LARM_0011.yaml │ │ │ ├── LARM_0012.yaml │ │ │ ├── LARM_0013.yaml │ │ │ ├── LARM_0014.yaml │ │ │ ├── LARM_0015.yaml │ │ │ ├── LARM_0016.yaml │ │ │ ├── LARM_0017.yaml │ │ │ ├── LARM_0018.yaml │ │ │ ├── LARM_0019.yaml │ │ │ ├── LARM_0020.yaml │ │ │ ├── LARM_0021.yaml │ │ │ ├── LARM_0022.yaml │ │ │ ├── LARM_0023.yaml │ │ │ ├── LARM_0024.yaml │ │ │ ├── LARM_0025.yaml │ │ │ ├── LARM_0026.yaml │ │ │ ├── LARM_0027.yaml │ │ │ ├── LARM_0028.yaml │ │ │ ├── LARM_0029.yaml │ │ │ └── config.yaml │ │ ├── 01_RARM │ │ │ ├── RARM_0000.yaml │ │ │ ├── RARM_0001.yaml │ │ │ ├── RARM_0002.yaml │ │ │ ├── RARM_0003.yaml │ │ │ ├── RARM_0004.yaml │ │ │ ├── RARM_0005.yaml │ │ │ ├── RARM_0006.yaml │ │ │ ├── RARM_0007.yaml │ │ │ ├── RARM_0008.yaml │ │ │ ├── RARM_0009.yaml │ │ │ ├── RARM_0010.yaml │ │ │ ├── RARM_0011.yaml │ │ │ ├── RARM_0012.yaml │ │ │ ├── RARM_0013.yaml │ │ │ ├── RARM_0014.yaml │ │ │ ├── RARM_0015.yaml │ │ │ ├── RARM_0016.yaml │ │ │ ├── RARM_0017.yaml │ │ │ ├── RARM_0018.yaml │ │ │ ├── RARM_0019.yaml │ │ │ ├── RARM_0020.yaml │ │ │ ├── RARM_0021.yaml │ │ │ ├── RARM_0022.yaml │ │ │ ├── RARM_0023.yaml │ │ │ ├── RARM_0024.yaml │ │ │ ├── RARM_0025.yaml │ │ │ ├── RARM_0026.yaml │ │ │ ├── RARM_0027.yaml │ │ │ ├── RARM_0028.yaml │ │ │ ├── RARM_0029.yaml │ │ │ └── config.yaml │ │ └── initial_poses.yaml │ └── settler.launch │ ├── estimate_params │ ├── calibrate_staro.sh │ ├── config │ │ ├── free_arms.yaml │ │ ├── free_cameras.yaml │ │ ├── free_cb_locations.yaml │ │ ├── free_torso.yaml │ │ └── system.yaml │ ├── fix_urdf.py │ ├── staro_estimation_config.launch │ └── test_all │ │ └── generate_all_test_pattern.py │ └── view_results │ ├── scatter_config.yaml │ └── view_scatter.sh ├── jsk_control ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── jsk_footstep_controller ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── action │ ├── GoPos.action │ └── LookAroundGround.action ├── cfg │ └── FootstepVisualizer.cfg ├── config │ ├── HRP2JSK.yaml │ ├── HRP2JSKNT.yaml │ ├── HRP2JSKNTS.yaml │ ├── JAXON.yaml │ ├── JAXON_BLUE.yaml │ ├── JAXON_RED.yaml │ ├── diagnostics.yaml │ └── example.yaml ├── euslisp │ ├── base-controller.l │ ├── footstep-controller-old.l │ ├── footstep-controller.l │ ├── footstep-param-generate.l │ ├── footstep-refinement.l │ ├── go-pos-client.l │ ├── go-pos-server.l │ ├── gui-client.l │ ├── head-controller.l │ ├── jaxon-footstep-controller.l │ ├── lookaround-ground.l │ ├── resetpose.l │ ├── robot-boundingbox.l │ ├── root-height.l │ ├── sample-footstep-execute.l │ ├── sample-root-height.l │ ├── simple-footstep-controller.l │ ├── test-footstep-refinement.l │ └── util.l ├── images │ ├── footcoords.png │ └── jaxon_odom_init.png ├── include │ └── jsk_footstep_controller │ │ ├── footcoords.h │ │ └── footcoords.h~ ├── launch │ ├── floor_detection.launch │ ├── hrp2jsk_footcoords.launch │ ├── hrp2jsknt_real.launch │ ├── hrp2jsknt_real_full.launch │ ├── no_recog.launch │ ├── resetmanippose.launch │ ├── resetpose.launch │ ├── sample_hrp2jsknt.launch │ ├── sample_hrp2jsknt_random.launch │ └── test_refinement.launch ├── msg │ ├── FootCoordsLowLevelInfo.msg │ ├── GroundContactState.msg │ └── SynchronizedForces.msg ├── package.xml ├── sample │ └── sample_root_height.launch ├── scripts │ ├── contact_state_error.py │ ├── dump_mocap.py │ ├── foot_contact_monitor.py │ ├── footstep-overlay-text.l │ ├── footstep_visualizer.py │ ├── stabilizer_watcher.py │ └── stance_phase.py ├── src │ └── footcoords.cpp ├── srv │ ├── RequireLog.srv │ └── RequireMonitorStatus.srv └── test │ └── test_footstep_controller.py ├── jsk_footstep_planner ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── bench │ └── bench_footstep_planner.cpp ├── cfg │ ├── FootstepMarker.cfg │ ├── FootstepPlanner.cfg │ └── PointCloudModelGenerator.cfg ├── config │ ├── HRP2JSKNTS_footstep_planner_params.yaml │ ├── HRP2JSKNT_footstep_planner_params.yaml │ ├── HRP2JSKNT_successors.yaml │ ├── JAXON_RED_footstep_planner_params.yaml │ ├── JAXON_RED_successors.yaml │ ├── JAXON_footstep_planner_params.yaml │ ├── JAXON_successors.yaml │ ├── footstep_buttons.yaml │ ├── footstep_successors.rviz │ ├── hrp2jsk_param.l │ ├── hrp2jsknt_param.l │ ├── jaxon_footstep_planner_perception.rviz │ ├── jaxon_param.l │ ├── jaxon_red_param.l │ ├── map.txt │ ├── model_sample.rviz │ └── sample_robot_footstep_planner_params.yaml ├── demo │ ├── ann_grid_demo.cpp │ ├── footstep_planning_2d_demo.cpp │ ├── footstep_planning_2d_interactive_demo.cpp │ ├── footstep_planning_2d_perception_demo.cpp │ ├── footstep_projection_demo.cpp │ ├── sample_astar.cpp │ └── sample_simple_graph.cpp ├── euslisp │ ├── drc-task2-env.l │ ├── footplace_planner_for_manipulation.l │ ├── footplace_planner_for_manipulation_sample.l │ ├── footstep-corrector-node.l │ ├── footstep-corrector.l │ ├── footstep-planner-client-sample.l │ ├── footstep-planner-client-with-disarranged-footsteps-sample.l │ ├── footstep-planner-node.l │ ├── footstep-snapper.l │ ├── footstep_planner.l │ ├── footstep_planner_util.l │ ├── generate-footstep-planner-parameters-from-robot-model.l │ ├── robot-model-util.l │ ├── sample-astar.l │ ├── sample-simple-graph.l │ ├── sample_astar_func.l │ └── simple_occupancy_grid.l ├── images │ ├── footstep_planner_perception_sample.gif │ └── jaxon_footstep_planner_gazebo_no_perception.png ├── include │ └── jsk_footstep_planner │ │ ├── ann_grid.h │ │ ├── astar_solver.h │ │ ├── best_first_search_solver.h │ │ ├── breadth_first_search_solver.h │ │ ├── depth_first_search_solver.h │ │ ├── footstep_astar_solver.h │ │ ├── footstep_conversions.h │ │ ├── footstep_graph.h │ │ ├── footstep_marker.h │ │ ├── footstep_parameters.h │ │ ├── footstep_planner.h │ │ ├── footstep_state.h │ │ ├── footstep_state_discrete_close_list.h │ │ ├── graph.h │ │ ├── grid_astar_solver.h │ │ ├── grid_graph.h │ │ ├── grid_path_planner.h │ │ ├── grid_perception.h │ │ ├── grid_state.h │ │ ├── line2d.h │ │ ├── marker_array_publisher.h │ │ ├── node.h │ │ ├── pointcloud_model_generator.h │ │ ├── simple_neighbored_graph.h │ │ ├── solver.h │ │ ├── solver_node.h │ │ ├── transition_limit.h │ │ └── util.h ├── launch │ ├── HRP2JSK_footprint.launch │ ├── JAXON_RED_footprint.launch │ ├── JAXON_RED_footstep_planner_perception.launch │ ├── JAXON_footprint.launch │ ├── cppplanner │ │ ├── footstep_planner.rviz │ │ └── optimistic_footstep_planner.launch │ ├── eusplanner │ │ ├── example.launch │ │ ├── example_6d.launch │ │ ├── example_drc_task2.launch │ │ ├── example_heuristic.launch │ │ └── footstep_successors_visualization.launch │ ├── footstep_correction.launch │ ├── footstep_plane_detection.launch │ ├── footstep_successors_visualization.launch │ ├── heightmap_perception │ │ └── heightmap.launch │ ├── jaxon_footprint.launch │ └── sample │ │ ├── footstep_planner_marker_sample.launch │ │ ├── footstep_planner_perception_sample.launch │ │ ├── footstep_planner_perception_sample.rviz │ │ ├── footstep_planner_sample.launch │ │ ├── footstep_planner_sample.rviz │ │ └── model_sample.launch ├── mainpage.dox ├── package.xml ├── rviz │ ├── footstep_planner.rviz │ ├── footstep_planner_manhattan.rviz │ ├── footstep_planner_stepcost.rviz │ ├── footstep_planner_stepcost2.rviz │ └── footstep_planner_straight.rviz ├── scripts │ ├── bench.sh │ ├── footstep_array_to_bounding_box_array.py │ ├── plane_publisher.py │ ├── plot_bench.py │ ├── pose_array.py │ └── transform_footstep_array.py ├── src │ ├── ann_grid.cpp │ ├── footstep_conversions.cpp │ ├── footstep_graph.cpp │ ├── footstep_marker.cpp │ ├── footstep_planner.cpp │ ├── footstep_planner_node.cpp │ ├── footstep_state.cpp │ ├── footstep_state_discrete_close_list.cpp │ ├── grid_path_planner.cpp │ ├── grid_path_planner_node.cpp │ ├── line2d.cpp │ ├── marker_array_publisher.cpp │ ├── pointcloud_model_generator.cpp │ ├── pointcloud_model_generator_node.cpp │ ├── simple_neighbored_graph.cpp │ └── transition_limit.cpp ├── srv │ ├── ChangeSuccessor.srv │ ├── CollisionBoundingBoxInfo.srv │ ├── ProjectFootstep.srv │ ├── SetHeuristicPath.srv │ └── setHeuristicPath.srv └── test │ ├── test_footstep_planning_eus_client.l │ └── test_footstep_planning_eus_client.test ├── jsk_ik_server ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── data │ ├── .gitkeep │ ├── baxter-xup-iterate009-concatenated.png │ ├── baxter-xup-iterate009.csv.png │ ├── baxter-yup-iterate009-concatenated.png │ ├── baxter-yup-iterate009.csv.png │ ├── baxter-zup-iterate009-concatenated.png │ ├── baxter-zup-iterate009.csv.png │ ├── fetch-xup-iterate009-concatenated.png │ ├── fetch-xup-iterate009.csv.png │ ├── fetch-yup-iterate009-concatenated.png │ ├── fetch-yup-iterate009.csv.png │ ├── fetch-zup-iterate009-concatenated.png │ ├── fetch-zup-iterate009.csv.png │ ├── jaxon-xup-input-concatenated.png │ ├── jaxon-xup-input-front.png │ ├── jaxon-xup-input-side.png │ ├── jaxon-xup-input-slant.png │ ├── jaxon-xup-input-up.png │ ├── jaxon-xup-input.csv.png │ ├── jaxon-xup-iterate000-concatenated.png │ ├── jaxon-xup-iterate000-front.png │ ├── jaxon-xup-iterate000-side.png │ ├── jaxon-xup-iterate000-slant.png │ ├── jaxon-xup-iterate000-up.png │ ├── jaxon-xup-iterate000.csv.png │ ├── jaxon-xup-iterate000.png │ ├── jaxon-xup-iterate001-concatenated.png │ ├── jaxon-xup-iterate001-front.png │ ├── jaxon-xup-iterate001-side.png │ ├── jaxon-xup-iterate001-slant.png │ ├── jaxon-xup-iterate001-up.png │ ├── jaxon-xup-iterate001.csv.png │ ├── jaxon-xup-iterate001.png │ ├── jaxon-xup-iterate002-concatenated.png │ ├── jaxon-xup-iterate002-front.png │ ├── jaxon-xup-iterate002-side.png │ ├── jaxon-xup-iterate002-slant.png │ ├── jaxon-xup-iterate002-up.png │ ├── jaxon-xup-iterate002.csv.png │ ├── jaxon-xup-iterate002.png │ ├── jaxon-xup-iterate003-concatenated.png │ ├── jaxon-xup-iterate003-front.png │ ├── jaxon-xup-iterate003-side.png │ ├── jaxon-xup-iterate003-slant.png │ ├── jaxon-xup-iterate003-up.png │ ├── jaxon-xup-iterate003.csv.png │ ├── jaxon-xup-iterate003.png │ ├── jaxon-xup-iterate004-concatenated.png │ ├── jaxon-xup-iterate004-front.png │ ├── jaxon-xup-iterate004-side.png │ ├── jaxon-xup-iterate004-slant.png │ ├── jaxon-xup-iterate004-up.png │ ├── jaxon-xup-iterate004.csv.png │ ├── jaxon-xup-iterate004.png │ ├── jaxon-xup-iterate005-concatenated.png │ ├── jaxon-xup-iterate005-front.png │ ├── jaxon-xup-iterate005-side.png │ ├── jaxon-xup-iterate005-slant.png │ ├── jaxon-xup-iterate005-up.png │ ├── jaxon-xup-iterate005.csv.png │ ├── jaxon-xup-iterate005.png │ ├── jaxon-xup-iterate006-concatenated.png │ ├── jaxon-xup-iterate006-front.png │ ├── jaxon-xup-iterate006-side.png │ ├── jaxon-xup-iterate006-slant.png │ ├── jaxon-xup-iterate006-up.png │ ├── jaxon-xup-iterate006.csv.png │ ├── jaxon-xup-iterate006.png │ ├── jaxon-xup-iterate007-concatenated.png │ ├── jaxon-xup-iterate007-front.png │ ├── jaxon-xup-iterate007-side.png │ ├── jaxon-xup-iterate007-slant.png │ ├── jaxon-xup-iterate007-up.png │ ├── jaxon-xup-iterate007.csv.png │ ├── jaxon-xup-iterate007.png │ ├── jaxon-xup-iterate008-concatenated.png │ ├── jaxon-xup-iterate008-front.png │ ├── jaxon-xup-iterate008-side.png │ ├── jaxon-xup-iterate008-slant.png │ ├── jaxon-xup-iterate008-up.png │ ├── jaxon-xup-iterate008.csv.png │ ├── jaxon-xup-iterate008.png │ ├── jaxon-xup-iterate009-concatenated.png │ ├── jaxon-xup-iterate009-front.png │ ├── jaxon-xup-iterate009-side.png │ ├── jaxon-xup-iterate009-slant.png │ ├── jaxon-xup-iterate009-up.png │ ├── jaxon-xup-iterate009.csv.png │ ├── jaxon-xup-iterate009.png │ ├── jaxon-yup-input-concatenated.png │ ├── jaxon-yup-input-front.png │ ├── jaxon-yup-input-side.png │ ├── jaxon-yup-input-slant.png │ ├── jaxon-yup-input-up.png │ ├── jaxon-yup-input.csv.png │ ├── jaxon-yup-iterate000-concatenated.png │ ├── jaxon-yup-iterate000-front.png │ ├── jaxon-yup-iterate000-side.png │ ├── jaxon-yup-iterate000-slant.png │ ├── jaxon-yup-iterate000-up.png │ ├── jaxon-yup-iterate000.csv.png │ ├── jaxon-yup-iterate000.png │ ├── jaxon-yup-iterate001-concatenated.png │ ├── jaxon-yup-iterate001-front.png │ ├── jaxon-yup-iterate001-side.png │ ├── jaxon-yup-iterate001-slant.png │ ├── jaxon-yup-iterate001-up.png │ ├── jaxon-yup-iterate001.csv.png │ ├── jaxon-yup-iterate001.png │ ├── jaxon-yup-iterate002-concatenated.png │ ├── jaxon-yup-iterate002-front.png │ ├── jaxon-yup-iterate002-side.png │ ├── jaxon-yup-iterate002-slant.png │ ├── jaxon-yup-iterate002-up.png │ ├── jaxon-yup-iterate002.csv.png │ ├── jaxon-yup-iterate002.png │ ├── jaxon-yup-iterate003-concatenated.png │ ├── jaxon-yup-iterate003-front.png │ ├── jaxon-yup-iterate003-side.png │ ├── jaxon-yup-iterate003-slant.png │ ├── jaxon-yup-iterate003-up.png │ ├── jaxon-yup-iterate003.csv.png │ ├── jaxon-yup-iterate003.png │ ├── jaxon-yup-iterate004-concatenated.png │ ├── jaxon-yup-iterate004-front.png │ ├── jaxon-yup-iterate004-side.png │ ├── jaxon-yup-iterate004-slant.png │ ├── jaxon-yup-iterate004-up.png │ ├── jaxon-yup-iterate004.csv.png │ ├── jaxon-yup-iterate004.png │ ├── jaxon-yup-iterate005-concatenated.png │ ├── jaxon-yup-iterate005-front.png │ ├── jaxon-yup-iterate005-side.png │ ├── jaxon-yup-iterate005-slant.png │ ├── jaxon-yup-iterate005-up.png │ ├── jaxon-yup-iterate005.csv.png │ ├── jaxon-yup-iterate005.png │ ├── jaxon-yup-iterate006-concatenated.png │ ├── jaxon-yup-iterate006-front.png │ ├── jaxon-yup-iterate006-side.png │ ├── jaxon-yup-iterate006-slant.png │ ├── jaxon-yup-iterate006-up.png │ ├── jaxon-yup-iterate006.csv.png │ ├── jaxon-yup-iterate006.png │ ├── jaxon-yup-iterate007-concatenated.png │ ├── jaxon-yup-iterate007-front.png │ ├── jaxon-yup-iterate007-side.png │ ├── jaxon-yup-iterate007-slant.png │ ├── jaxon-yup-iterate007-up.png │ ├── jaxon-yup-iterate007.csv.png │ ├── jaxon-yup-iterate007.png │ ├── jaxon-yup-iterate008-concatenated.png │ ├── jaxon-yup-iterate008-front.png │ ├── jaxon-yup-iterate008-side.png │ ├── jaxon-yup-iterate008-slant.png │ ├── jaxon-yup-iterate008-up.png │ ├── jaxon-yup-iterate008.csv.png │ ├── jaxon-yup-iterate008.png │ ├── jaxon-yup-iterate009-concatenated.png │ ├── jaxon-yup-iterate009-front.png │ ├── jaxon-yup-iterate009-side.png │ ├── jaxon-yup-iterate009-slant.png │ ├── jaxon-yup-iterate009-up.png │ ├── jaxon-yup-iterate009.csv.png │ ├── jaxon-yup-iterate009.png │ ├── jaxon-zup-input-concatenated.png │ ├── jaxon-zup-input-front.png │ ├── jaxon-zup-input-side.png │ ├── jaxon-zup-input-slant.png │ ├── jaxon-zup-input-up.png │ ├── jaxon-zup-input.csv.png │ ├── jaxon-zup-iterate000-concatenated.png │ ├── jaxon-zup-iterate000-front.png │ ├── jaxon-zup-iterate000-side.png │ ├── jaxon-zup-iterate000-slant.png │ ├── jaxon-zup-iterate000-up.png │ ├── jaxon-zup-iterate000.csv.png │ ├── jaxon-zup-iterate000.png │ ├── jaxon-zup-iterate001-concatenated.png │ ├── jaxon-zup-iterate001-front.png │ ├── jaxon-zup-iterate001-side.png │ ├── jaxon-zup-iterate001-slant.png │ ├── jaxon-zup-iterate001-up.png │ ├── jaxon-zup-iterate001.csv.png │ ├── jaxon-zup-iterate001.png │ ├── jaxon-zup-iterate002-concatenated.png │ ├── jaxon-zup-iterate002-front.png │ ├── jaxon-zup-iterate002-side.png │ ├── jaxon-zup-iterate002-slant.png │ ├── jaxon-zup-iterate002-up.png │ ├── jaxon-zup-iterate002.csv.png │ ├── jaxon-zup-iterate002.png │ ├── jaxon-zup-iterate003-concatenated.png │ ├── jaxon-zup-iterate003-front.png │ ├── jaxon-zup-iterate003-side.png │ ├── jaxon-zup-iterate003-slant.png │ ├── jaxon-zup-iterate003-up.png │ ├── jaxon-zup-iterate003.csv.png │ ├── jaxon-zup-iterate003.png │ ├── jaxon-zup-iterate004-concatenated.png │ ├── jaxon-zup-iterate004-front.png │ ├── jaxon-zup-iterate004-side.png │ ├── jaxon-zup-iterate004-slant.png │ ├── jaxon-zup-iterate004-up.png │ ├── jaxon-zup-iterate004.csv.png │ ├── jaxon-zup-iterate004.png │ ├── jaxon-zup-iterate005-concatenated.png │ ├── jaxon-zup-iterate005-front.png │ ├── jaxon-zup-iterate005-side.png │ ├── jaxon-zup-iterate005-slant.png │ ├── jaxon-zup-iterate005-up.png │ ├── jaxon-zup-iterate005.csv.png │ ├── jaxon-zup-iterate005.png │ ├── jaxon-zup-iterate006-concatenated.png │ ├── jaxon-zup-iterate006-front.png │ ├── jaxon-zup-iterate006-side.png │ ├── jaxon-zup-iterate006-slant.png │ ├── jaxon-zup-iterate006-up.png │ ├── jaxon-zup-iterate006.csv.png │ ├── jaxon-zup-iterate006.png │ ├── jaxon-zup-iterate007-concatenated.png │ ├── jaxon-zup-iterate007-front.png │ ├── jaxon-zup-iterate007-side.png │ ├── jaxon-zup-iterate007-slant.png │ ├── jaxon-zup-iterate007-up.png │ ├── jaxon-zup-iterate007.csv.png │ ├── jaxon-zup-iterate007.png │ ├── jaxon-zup-iterate008-concatenated.png │ ├── jaxon-zup-iterate008-front.png │ ├── jaxon-zup-iterate008-side.png │ ├── jaxon-zup-iterate008-slant.png │ ├── jaxon-zup-iterate008-up.png │ ├── jaxon-zup-iterate008.csv.png │ ├── jaxon-zup-iterate008.png │ ├── jaxon-zup-iterate009-concatenated.png │ ├── jaxon-zup-iterate009-front.png │ ├── jaxon-zup-iterate009-side.png │ ├── jaxon-zup-iterate009-slant.png │ ├── jaxon-zup-iterate009-up.png │ ├── jaxon-zup-iterate009.csv.png │ ├── jaxon-zup-iterate009.png │ ├── pr2-xup-iterate009-concatenated.png │ ├── pr2-xup-iterate009.csv.png │ ├── pr2-yup-iterate009-concatenated.png │ ├── pr2-yup-iterate009.csv.png │ ├── pr2-zup-iterate009-concatenated.png │ ├── pr2-zup-iterate009.csv.png │ ├── tablis-xup-iterate009-concatenated.png │ ├── tablis-xup-iterate009.csv.png │ ├── tablis-yup-iterate009-concatenated.png │ ├── tablis-yup-iterate009.csv.png │ ├── tablis-zup-iterate009-concatenated.png │ └── tablis-zup-iterate009.csv.png ├── docs │ └── jaxon_ik_evaluation.md ├── euslisp │ ├── conf │ │ └── parse-xml.l │ ├── fullbody-ik-client.l │ ├── ik-evaluation.l │ ├── ik-server-impl │ │ ├── atlas-ik-server.l │ │ ├── hrp2jsk-ik-server.l │ │ ├── hrp2jsknt-ik-server.l │ │ ├── hrp2jsknts-ik-server.l │ │ ├── hrp2w-ik-server.l │ │ ├── jaxon-ik-server.l │ │ ├── jaxon_red-ik-server.l │ │ ├── pr2-ik-server.l │ │ ├── sample-robot-ik-server.l │ │ └── staro-ik-server.l │ ├── ik-server-util.l │ ├── ik-server.l │ ├── old-ik-client.l │ └── old-ik-server.l ├── launch │ ├── hrp2jsknt-ik-server.launch │ ├── hrp2jsknts-ik-server.launch │ ├── jaxon-ik-server.launch │ ├── jaxon_red-ik-server.launch │ └── staro-ik-server.launch ├── mainpage.dox ├── package.xml ├── sample │ └── teleop │ │ ├── cyborg2posestamped.l │ │ ├── img │ │ ├── data.l │ │ ├── manip.jpg │ │ ├── pose-play-panel-util.l │ │ └── reset.jpg │ │ ├── pose-play-panel.l │ │ ├── robot-controller-sample.launch │ │ ├── robot-controller-with-ik-server.l │ │ ├── spacenav2posestamped.l │ │ └── util │ │ ├── button-sample.l │ │ ├── debug.l │ │ └── image-panel.l ├── scripts │ ├── ik-grid │ │ ├── baxter.l │ │ ├── baxter.sh │ │ ├── fetch.l │ │ ├── fetch.sh │ │ ├── hrp2.l │ │ ├── hrp2.sh │ │ ├── jaxon.l │ │ ├── jaxon.sh │ │ ├── pr2.l │ │ ├── pr2.sh │ │ ├── tablis.l │ │ └── tablis.sh │ └── plot_ik_grid.py └── test │ ├── all-test.launch │ ├── atlas-ik-server-test.launch │ ├── fullbody-ik-client-test.l │ ├── hrp2jsk-ik-server-test.launch │ ├── hrp2jsknt-ik-server-test.launch │ ├── hrp2jsknts-ik-server-test.launch │ ├── jaxon-ik-server-test.launch │ ├── jaxon_red-ik-server-test.launch │ ├── pr2-ik-server-test.launch │ ├── samplerobot-ik-server-test.launch │ ├── staro-ik-server-test.launch │ └── test-ik-server-client.l └── jsk_teleop_joy ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── configs ├── QuNeo.yaml ├── b_control.yaml ├── icontrols_pro.yaml ├── launchpad_mini.yaml ├── launchpad_x.yaml ├── nanokontrol2.yaml ├── nanopad2.yaml └── padkontrol.yaml ├── launch ├── cmdvel.launch ├── footstep_planner.launch ├── gopos.launch ├── hrp2_trackball_head.launch ├── joy.launch ├── joy_footstep.launch ├── joy_footstep_marker.launch ├── joy_vehicle.launch ├── marker.launch ├── pr2.launch ├── pr2_moveit.launch ├── pr2_relay.launch ├── pr2_trackball_head.launch ├── robot_trackball_head.launch └── verbose.launch ├── mainpage.dox ├── package.xml ├── plugin.xml ├── scripts ├── akaiLPD8.py ├── head_control_by_trackball.py ├── interactive_midi_config.py ├── joy_main.py ├── joy_relative_converter.py ├── lanchpad_mini_joy.py ├── midi_config_player.py ├── midi_verbose.py ├── midi_write.py ├── nanokontrol_joy.py ├── nanopad2_joy.py ├── nanopad_joy.py ├── spacenav2pose.py ├── test_joy.py └── vestax_spin2.py ├── setup.py └── src └── jsk_teleop_joy ├── __init__.py ├── b_control_status.py ├── camera_view.py ├── joy.py ├── joy_plugin.py ├── joy_status.py ├── midi_util.py ├── nanokontrol_status.py ├── nanopad_status.py ├── plugin ├── __init__.py ├── environment_plane_modeling_client.py ├── gopos.py ├── joy_cmd_vel.py ├── joy_footstep.py ├── joy_footstep_marker.py ├── joy_footstep_planner.py ├── joy_footstep_planner_demo.py ├── joy_pose_6d.py ├── joy_rviz_view_controller.py ├── jsk_interactive_marker_control.py ├── moveit.py ├── relay.py ├── rviz_view_controller_singleton.py ├── util.py ├── vehicle.py └── verbose.py ├── plugin_manager.py ├── status_history.py ├── tf_ext.py └── trackpoint_status.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | build 3 | *~ 4 | *.o 5 | *.so 6 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule ".travis"] 2 | path = .travis 3 | url = https://github.com/jsk-ros-pkg/jsk_travis.git 4 | -------------------------------------------------------------------------------- /.travis.rosinstall: -------------------------------------------------------------------------------- 1 | # rviz stuff 2 | - git: 3 | local-name: view_controller_msgs 4 | uri: 'https://github.com/ros-visualization/view_controller_msgs' 5 | version: hydro-devel 6 | -------------------------------------------------------------------------------- /.travis.rosinstall.hydro: -------------------------------------------------------------------------------- 1 | - git: 2 | uri: https://github.com/jsk-ros-pkg/jsk_common_msgs.git 3 | local-name: jsk-ros-pkg/jsk_common_msgs 4 | version: 4.0.0 5 | - git: 6 | uri: https://github.com/jsk-ros-pkg/jsk_roseus.git 7 | local-name: jsk-ros-pkg/jsk_roseus 8 | version: 1.5.1 9 | -------------------------------------------------------------------------------- /.travis_before_script_jsk_recognition_utils.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ############################################################ 4 | # Setup released packages on shadow-fixed for released test. 5 | ############################################################ 6 | sudo -H apt-get install -y python-rosinstall-generator 7 | 8 | rosinstall_generator --tar --rosdistro indigo jsk_recognition_utils jsk_footstep_msgs >> /tmp/$$.rosinstall 9 | 10 | cd ~/ros/ws_$REPOSITORY_NAME/src 11 | wstool merge /tmp/$$.rosinstall 12 | wstool up jsk_recognition/jsk_recognition_utils 13 | wstool up jsk_common_msgs/jsk_footstep_msgs 14 | 15 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | jsk_control [![Build Status](https://travis-ci.org/jsk-ros-pkg/jsk_control.png?branch=master)](https://travis-ci.org/jsk-ros-pkg/jsk_control) 2 | =========== 3 | 4 | jsk control ros packages 5 | -------------------------------------------------------------------------------- /cmd_vel_smoother/cfg/CmdVelSmoother.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from dynamic_reconfigure.parameter_generator_catkin import * 4 | 5 | gen = ParameterGenerator() 6 | 7 | gen.add("x_acc_lim", double_t, 0, "x acceleration limit", 0.1, 0, 1.0) 8 | gen.add("y_acc_lim", double_t, 0, "y acceleration limit", 0.1, 0, 1.0) 9 | gen.add("yaw_acc_lim", double_t, 0, "yaw acceleration limit", 0.1, 0, 3.14) 10 | gen.add("desired_rate", double_t, 0, "desired publish rate", 10.0, 0.1, 100.0) 11 | gen.add("interpolate_max_frame", int_t, 0, "max frame of interpolation", 5, 0, 100) 12 | 13 | exit(gen.generate("cmd_vel_smoother", "cmd_vel_smoother", "CmdVelSmoother")) 14 | -------------------------------------------------------------------------------- /cmd_vel_smoother/launch/cmd_vel_smoother.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /contact_states_observer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(contact_states_observer) 3 | 4 | find_package(catkin REQUIRED message_generation std_msgs) 5 | 6 | add_message_files( 7 | FILES GraspReferenceData.msg GraspStates.msg OREContactStates.msg GraspState.msg OREContactState.msg 8 | ) 9 | generate_messages( 10 | DEPENDENCIES std_msgs 11 | ) 12 | catkin_package( 13 | ) 14 | -------------------------------------------------------------------------------- /contact_states_observer/launch/contact_grasp_states_publisher.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /contact_states_observer/msg/GraspReferenceData.msg: -------------------------------------------------------------------------------- 1 | string name # 2 | float64[] av # 3 | -------------------------------------------------------------------------------- /contact_states_observer/msg/GraspState.msg: -------------------------------------------------------------------------------- 1 | string[] check_jname_list # 2 | contact_states_observer/GraspReferenceData[] reference_datas # 3 | float64[] current_av # 4 | string result -------------------------------------------------------------------------------- /contact_states_observer/msg/GraspStates.msg: -------------------------------------------------------------------------------- 1 | Header header # 2 | contact_states_observer/GraspState[] grasp_states # 3 | -------------------------------------------------------------------------------- /contact_states_observer/msg/OREContactState.msg: -------------------------------------------------------------------------------- 1 | Header header # 2 | string name # 3 | string state # 4 | string mode # 5 | -------------------------------------------------------------------------------- /contact_states_observer/msg/OREContactStates.msg: -------------------------------------------------------------------------------- 1 | contact_states_observer/OREContactState[] contact_states # 2 | -------------------------------------------------------------------------------- /contact_states_observer/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | contact_states_observer 4 | 0.1.18 5 | The contact_states_observer package 6 | 7 | nozawa 8 | BSD 9 | catkin 10 | std_msgs 11 | message_generation 12 | roseus 13 | std_msgs 14 | 15 | -------------------------------------------------------------------------------- /eus_nlopt/path-tricker/includes.txt: -------------------------------------------------------------------------------- 1 | 2 | include_directories("/usr/include/c++/4.6") 3 | include_directories("/usr/include/c++/4.6/x86_64-linux-gnu/.") 4 | include_directories("/usr/include/c++/4.6/backward") 5 | include_directories("/usr/lib/gcc/x86_64-linux-gnu/4.6/include") 6 | include_directories("/usr/local/include") 7 | include_directories("/usr/lib/gcc/x86_64-linux-gnu/4.6/include-fixed") 8 | include_directories("/usr/include/x86_64-linux-gnu") 9 | include_directories("/usr/include") 10 | -------------------------------------------------------------------------------- /eus_qp/optmotiongen/doc/images/demo-2d-body-trajectory-with-msc.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_qp/optmotiongen/doc/images/demo-2d-body-trajectory-with-msc.gif -------------------------------------------------------------------------------- /eus_qp/optmotiongen/doc/images/demo-2d-body-trajectory-without-msc.gif: -------------------------------------------------------------------------------- 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/eus_qp/optmotiongen/scripts/bspline-configuration-task-plot-theta-graph-display-window.plt: -------------------------------------------------------------------------------- 1 | file = "/tmp/bspline-configuration-task-plot-theta-graph.dat" 2 | plot file u 1:2 t "theta" w l lw 4 3 | rep file u 1:5 t "theta-dot" w l lw 4 4 | if (plot_numerical==1) { rep file u 1:6 t "theta-dot-numerical" w l lw 4 } 5 | rep file u 1:9 t "theta-dot2" w l lw 4 6 | if (plot_numerical==1) { rep file u 1:10 t "theta-dot2-numerical" w l lw 4 } 7 | set grid 8 | rep 9 | pause -1 "hit Enter key" 10 | -------------------------------------------------------------------------------- /eus_qp/optmotiongen/test/test-load-euslisp-files.bash: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | cd "$(rospack find eus_qp)"/optmotiongen/euslisp 4 | EUSLISP_FILES="$(ls -1 *.l)" 5 | 6 | for f in $EUSLISP_FILES 7 | do 8 | echo $f 9 | roseus "(progn (load \"$f\") (exit))" 10 | if [ $? -ne 0 ]; then 11 | echo "error when loading $f !!!" 12 | exit 1 13 | fi 14 | done 15 | 16 | exit 0 17 | -------------------------------------------------------------------------------- /eus_qp/optmotiongen/test/test-load-euslisp-files.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qp/optmotiongen/test/test-sample-inverse-kinematics-statics.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qp/optmotiongen/test/test-sample-inverse-kinematics.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qp/optmotiongen/test/test-sample-torque-gradient.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qp/optmotiongen/test/test-samplerobot.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qp/path-tricker/includes.txt: -------------------------------------------------------------------------------- 1 | 2 | include_directories("/usr/include/c++/4.6") 3 | include_directories("/usr/include/c++/4.6/x86_64-linux-gnu/.") 4 | include_directories("/usr/include/c++/4.6/backward") 5 | include_directories("/usr/lib/gcc/x86_64-linux-gnu/4.6/include") 6 | include_directories("/usr/local/include") 7 | include_directories("/usr/lib/gcc/x86_64-linux-gnu/4.6/include-fixed") 8 | include_directories("/usr/include/x86_64-linux-gnu") 9 | include_directories("/usr/include") 10 | -------------------------------------------------------------------------------- /eus_qp/test/test_cfr_cwc_calculation.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qp/test/test_contact_wrench_opt.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qp/test/test_model_predictive_control.l: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env roseus 2 | 3 | (require :unittest "lib/llib/unittest.l") 4 | (init-unit-test) 5 | 6 | (require "package://eus_qp/euslisp/test-model-predictive-control.l") 7 | (setup) 8 | 9 | (deftest test-demo-mpc-gen-motion-all 10 | (assert (every #'identity (demo-mpc-gen-motion-all)))) 11 | (deftest test-demo-mpc-gen-motion-all-2 12 | (assert (every #'identity (demo-mpc-gen-motion-all :receding-horizon-proc-count 2)))) 13 | (deftest test-test-predictive-matrices-all 14 | (assert (every #'identity (test-predictive-matrices-all)))) 15 | 16 | (run-all-tests) 17 | (exit 0) 18 | -------------------------------------------------------------------------------- /eus_qp/test/test_model_predictive_control.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_qpoases/.gitignore: -------------------------------------------------------------------------------- 1 | bin/ -------------------------------------------------------------------------------- /eus_qpoases/include/.placeholder: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_qpoases/include/.placeholder -------------------------------------------------------------------------------- /eus_qpoases/lib/.placeholder: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_qpoases/lib/.placeholder -------------------------------------------------------------------------------- /eus_qpoases/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b eus_qpoases 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /eus_qpoases/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | eus_qpoases 4 | 5 | eus_qpoases 6 | 7 | 0.1.18 8 | Shunichi Nozawa 9 | Apache License 2.0 10 | 11 | catkin 12 | euslisp 13 | subversion 14 | rostest 15 | 16 | euslisp 17 | rostest 18 | 19 | -------------------------------------------------------------------------------- /eus_qpoases/patch/UseShareLibrary.patch: -------------------------------------------------------------------------------- 1 | Index: CMakeLists.txt 2 | =================================================================== 3 | --- CMakeLists.txt (リビジョン 85) 4 | +++ CMakeLists.txt (作業コピー) 5 | @@ -101,7 +101,7 @@ 6 | FILE(GLOB SRC src/*.cpp) 7 | 8 | # library 9 | -ADD_LIBRARY(qpOASES STATIC ${SRC}) 10 | +ADD_LIBRARY(qpOASES SHARED ${SRC}) 11 | INSTALL(TARGETS qpOASES 12 | LIBRARY DESTINATION lib 13 | ARCHIVE DESTINATION lib 14 | -------------------------------------------------------------------------------- /eus_qpoases/test/eus-qpoases.test.l: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env roseus 2 | 3 | (require :unittest "lib/llib/unittest.l") 4 | (init-unit-test) 5 | 6 | (require "package://eus_qpoases/euslisp/test-eus-qpoases.l") 7 | 8 | (deftest test-normal-qp/lp 9 | (assert (demo-eus-qpOASES-all))) 10 | 11 | (deftest test-hotstart-sqp/slp 12 | (assert (demo-eus-qpOASES-all :mode :sqp/slp-with-hotstart))) 13 | 14 | (run-all-tests) 15 | (exit 0) 16 | -------------------------------------------------------------------------------- /eus_qpoases/test/eus_qpoases.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_teleop/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package eus_teleop 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.1.18 (2024-12-09) 6 | ------------------- 7 | 8 | 0.1.17 (2023-05-28) 9 | ------------------- 10 | * add eus_teleop 11 | * Contributors: Shingo Kitagawa 12 | -------------------------------------------------------------------------------- /eus_teleop/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(eus_teleop) 3 | 4 | find_package(catkin 5 | REQUIRED 6 | message_generation 7 | std_msgs 8 | ) 9 | 10 | add_message_files( 11 | FILES 12 | EusTeleopStatus.msg 13 | EusTeleopStatusArray.msg 14 | ) 15 | 16 | generate_messages( 17 | DEPENDENCIES 18 | std_msgs 19 | ) 20 | 21 | catkin_package( 22 | CATKIN_DEPENDS 23 | message_runtime 24 | std_msgs 25 | ) 26 | -------------------------------------------------------------------------------- /eus_teleop/baxter.rosinstall.kinetic: -------------------------------------------------------------------------------- 1 | - git: 2 | local-name: strands-project/mongodb_store 3 | uri: https://github.com/strands-project/mongodb_store.git 4 | version: kinetic-devel 5 | -------------------------------------------------------------------------------- /eus_teleop/baxter.rosinstall.melodic: -------------------------------------------------------------------------------- 1 | - git: 2 | local-name: strands-project/mongodb_store 3 | uri: https://github.com/strands-project/mongodb_store.git 4 | version: melodic-devel 5 | -------------------------------------------------------------------------------- /eus_teleop/config/baxter/d435_torso_pose.yaml: -------------------------------------------------------------------------------- 1 | frame_id: base 2 | initial_x: 0.237 3 | initial_y: 0.087 4 | initial_z: 0.465 5 | initial_orientation: [0.697, -0.642, 0.227, -0.224] 6 | -------------------------------------------------------------------------------- /eus_teleop/config/baxter/grasp_mask_rcnn_target_names.yaml: -------------------------------------------------------------------------------- 1 | target_names: 2 | # - avery_binder 3 | # - composition_book 4 | - hanes_socks 5 | # - ice_cube_tray 6 | # - reynolds_wrap 7 | # - robots_dvd 8 | # - scotch_sponges 9 | # - table_cloth 10 | # - toilet_brush 11 | -------------------------------------------------------------------------------- /eus_teleop/config/baxter/grasp_mask_rcnn_tote_contents.yaml: -------------------------------------------------------------------------------- 1 | tote_contents: 2 | # - avery_binder 3 | # - composition_book 4 | - hanes_socks 5 | # - ice_cube_tray 6 | # - reynolds_wrap 7 | # - robots_dvd 8 | # - scotch_sponges 9 | # - table_cloth 10 | # - toilet_brush 11 | -------------------------------------------------------------------------------- /eus_teleop/config/baxter/l515_torso_pose.yaml: -------------------------------------------------------------------------------- 1 | frame_id: base 2 | initial_x: 0.253 3 | initial_y: -0.004 4 | initial_z: 0.563 5 | initial_orientation: [-0.679, 0.685, -0.153, 0.213] 6 | # - Translation: [0.253, -0.004, 0.563] 7 | # - Rotation: in Quaternion [-0.679, 0.685, -0.153, 0.213] 8 | # in RPY (radian) [-2.616, 0.085, -1.557] 9 | # in RPY (degree) [-149.881, 4.843, -89.196] 10 | -------------------------------------------------------------------------------- /eus_teleop/config/baxter/workspace_transformable_markers_client.yaml: -------------------------------------------------------------------------------- 1 | boxes: 2 | - dimensions: 3 | - 0.8 4 | - 1.5 5 | - 0.5 6 | frame_id: base 7 | name: workspace 8 | orientation: 9 | - 0.0 10 | - 0.0 11 | - 0.0 12 | - 1.0 13 | position: 14 | - 0.7992985248565674 15 | - 0.012504592537879944 16 | - -0.043394118547439575 17 | -------------------------------------------------------------------------------- /eus_teleop/config/vive/default_vive_ids.yaml: -------------------------------------------------------------------------------- 1 | b_lighthouse_id: 8E924CC3 2 | c_lighthouse_id: 11CFA4E1 3 | l_controller_id: FD35BD42 4 | r_controller_id: F7AFBF47 5 | -------------------------------------------------------------------------------- /eus_teleop/config/vive/shmpwk_vive_ids.yaml: -------------------------------------------------------------------------------- 1 | b_lighthouse_id: 75FB8E1A 2 | c_lighthouse_id: 3BE5D3B2 3 | l_controller_id: FF9D9FC4 4 | r_controller_id: FFCCFFC7 5 | -------------------------------------------------------------------------------- /eus_teleop/dragon.rosinstall: -------------------------------------------------------------------------------- 1 | - git: 2 | local-name: jsk-ros-pkg/jsk_aerial_robot 3 | uri: https://github.com/knorth55/jsk_aerial_robot.git 4 | version: drone-euslisp 5 | - git: 6 | local-name: JSKAerialRobot/aerial_robot_3rdparty 7 | uri: https://github.com/JSKAerialRobot/aerial_robot_3rdparty.git 8 | version: master 9 | - git: 10 | local-name: JSKAerialRobot/kalman_filter 11 | uri: https://github.com/JSKAerialRobot/kalman_filter.git 12 | version: master 13 | - git: 14 | local-name: JSKAerialRobot/sensor_interface 15 | uri: https://github.com/JSKAerialRobot/sensor_interface.git 16 | version: master 17 | -------------------------------------------------------------------------------- /eus_teleop/euslisp/lib/baxter-util.l: -------------------------------------------------------------------------------- 1 | (require :baxter "package://baxtereus//baxter-util.l") 2 | 3 | 4 | (defmethod baxter-robot 5 | (:reset-teleop-pose () 6 | (send self :angle-vector 7 | (float-vector 0 12 34 -122 116 162 46 -29 8 | -12 34 122 116 -162 46 29)))) 9 | 10 | 11 | (provide :baxter) 12 | -------------------------------------------------------------------------------- /eus_teleop/euslisp/lib/robot-move-base-oculus-interface.l: -------------------------------------------------------------------------------- 1 | ;; -*- mode: lisp;-*- 2 | 3 | (ros::roseus-add-msgs "geometry_msgs") 4 | 5 | (require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") 6 | (require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") 7 | (require :robot-oculus-interface "package://eus_teleop/euslisp/lib/robot-oculus-interface.l") 8 | 9 | 10 | (provide :robot-move-base-oculus-interface) 11 | -------------------------------------------------------------------------------- /eus_teleop/launch/baxter/baxter.machine: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /eus_teleop/launch/baxter/baxter_visualization.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | -------------------------------------------------------------------------------- /eus_teleop/launch/include/audio_play.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /eus_teleop/launch/include/mask_rcnn.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 9 | 10 | 11 | gpu: $(arg gpu) 12 | model_name: mask_rcnn_fpn_resnet50 13 | pretrained_model: coco 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /eus_teleop/launch/include/respeaker.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /eus_teleop/launch/include/rqt_gui.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /eus_teleop/launch/tablis/tablis_bridge_follower.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | topics: 5 | - /slave_larm_pose_converted 6 | - /slave_rarm_pose_converted 7 | - /slave_lleg_pose_converted 8 | - /slave_rleg_pose_converted 9 | - /slave_larm_wrench_converted 10 | - /slave_rarm_wrench_converted 11 | - /slave_lleg_wrench_converted 12 | - /slave_rleg_wrench_converted 13 | slaveside: true 14 | queuesize: 50 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /eus_teleop/msg/EusTeleopStatus.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | string part_name 3 | bool enable 4 | bool collision 5 | bool track_error 6 | bool hand_close 7 | -------------------------------------------------------------------------------- /eus_teleop/msg/EusTeleopStatusArray.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | eus_teleop/EusTeleopStatus[] status 3 | -------------------------------------------------------------------------------- /eus_teleop/resource/remote_tabbed_layout.yaml: -------------------------------------------------------------------------------- 1 | tabbed_layout: 2 | tab_list: ['reset', 'gripper'] 3 | reset: 4 | name: 'Reset' 5 | namespace: push 6 | type: push 7 | yaml_file: 'package://eus_teleop/resource/reset_button_layout.yaml' 8 | gripper: 9 | name: 'Gripper' 10 | namespace: push 11 | type: push 12 | yaml_file: 'package://eus_teleop/resource/gripper_button_layout.yaml' 13 | -------------------------------------------------------------------------------- /eus_teleop/resource/reset_button_layout.yaml: -------------------------------------------------------------------------------- 1 | - name: 'Reset' 2 | service: '/eus_teleop/reset' 3 | column: 0 4 | - name: 'Enable' 5 | service: '/eus_teleop/enable' 6 | column: 1 7 | - name: 'Disable' 8 | service: '/eus_teleop/disable' 9 | column: 2 10 | - name: 'Calibrate larm' 11 | service: '/eus_teleop/larm/calibrate' 12 | column: 3 13 | - name: 'Calibrate rarm' 14 | service: '/eus_teleop/rarm/calibrate' 15 | column: 4 16 | -------------------------------------------------------------------------------- /eus_teleop/sample/oculus/pr2/pr2_oculus_gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /eus_teleop/sample/spacenav/dragon/dragon_spacenav.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /eus_teleop/sample/spacenav/dragon/dragon_spacenav_gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /eus_teleop/sample/spacenav/jaxon/jaxon_spacenav.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /eus_teleop/sample/spacenav/jaxon/jaxon_spacenav_choreonoid.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /eus_teleop/sample/tablis/jaxon/jaxon_tablis.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /eus_teleop/sample/tablis/jaxon/jaxon_tablis_choreonoid.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /eus_teleop/scripts/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | # shellcheck source=/dev/null 4 | if [ -e "$HOME/ros/baxter_ws/" ]; then 5 | source "$HOME/ros/baxter_ws/devel/setup.bash" 6 | fi 7 | if [ -e "$HOME/ros/teleop_ws/" ]; then 8 | source "$HOME/ros/teleop_ws/devel/setup.bash" 9 | fi 10 | exec "$@" 11 | -------------------------------------------------------------------------------- /eus_teleop/sounds/alert.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_teleop/sounds/alert.wav -------------------------------------------------------------------------------- /eus_teleop/sounds/gripper.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_teleop/sounds/gripper.wav -------------------------------------------------------------------------------- /eus_teleop/sounds/start.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_teleop/sounds/start.wav -------------------------------------------------------------------------------- /eus_teleop/sounds/stop.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_teleop/sounds/stop.wav -------------------------------------------------------------------------------- /eus_teleop/sounds/warn.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/eus_teleop/sounds/warn.wav -------------------------------------------------------------------------------- /eus_teleop/tablis.rosinstall: -------------------------------------------------------------------------------- 1 | - git: 2 | local-name: Naoki-Hiraoka/connect_two_ros_master 3 | uri: https://github.com/Naoki-Hiraoka/connect_two_ros_master.git 4 | version: master 5 | -------------------------------------------------------------------------------- /eus_teleop/udev/99-elp.rules: -------------------------------------------------------------------------------- 1 | #elp video 2 | KERNEL=="video[02468]", SUBSYSTEM=="video4linux", SUBSYSTEMS=="usb", ATTRS{idVendor}=="32e4", ATTRS{idProduct}=="0317", MODE="0666", GROUP="video", SYMLINK+="elp-head" 3 | SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="32e4", ATTRS{idProduct}=="0317", MODE="0666" 4 | -------------------------------------------------------------------------------- /eus_teleop/udev/99-insta.rules: -------------------------------------------------------------------------------- 1 | #insta360 video 2 | KERNEL=="video[02468]", SUBSYSTEM=="video4linux", SUBSYSTEMS=="usb", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="1000", MODE="0666", GROUP="video", SYMLINK+="insta-head" 3 | SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="1000", MODE="0666" 4 | -------------------------------------------------------------------------------- /eus_teleop/udev/99-kodak.rules: -------------------------------------------------------------------------------- 1 | # kodak video 2 | KERNEL=="video[02468]", SUBSYSTEM=="video4linux", SUBSYSTEMS=="usb", ATTRS{idVendor}=="040a", ATTRS{idProduct}=="0426", MODE="0666", GROUP="video", SYMLINK+="kodak-head" 3 | -------------------------------------------------------------------------------- /joy_mouse/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | if(NOT USE_ROSBUILD) 2 | include(catkin.cmake) 3 | return() 4 | endif() 5 | 6 | cmake_minimum_required(VERSION 2.4.6) 7 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 8 | 9 | 10 | rosbuild_init() 11 | -------------------------------------------------------------------------------- /joy_mouse/Makefile: -------------------------------------------------------------------------------- 1 | EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 2 | include $(shell rospack find mk)/cmake.mk 3 | -------------------------------------------------------------------------------- /joy_mouse/README.md: -------------------------------------------------------------------------------- 1 | # joy_mouse 2 | 3 | ## setup 4 | `/dev/input/mouse[0-9]*` requires super user permission in default of ubuntu. 5 | So we need to chane it. 6 | 7 | Please open your favorite editor and make a file at `/etc/udev/rules.d/99-input.rules` 8 | with following content: 9 | ``` 10 | SUBSYSTEM=="input", MODE="666" 11 | ``` 12 | 13 | And restart udev by `sudo /etc/init.d/udev restart`, reboot your computer or re-plug your mouse. 14 | -------------------------------------------------------------------------------- /joy_mouse/catkin.cmake: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(joy_mouse) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | rospy 6 | sensor_msgs 7 | ) 8 | catkin_python_setup() 9 | 10 | catkin_package( 11 | # INCLUDE_DIRS include 12 | # LIBRARIES joy_mouse 13 | CATKIN_DEPENDS rospy sensor_msgs 14 | # DEPENDS system_lib 15 | ) 16 | 17 | install(DIRECTORY 18 | scripts launch 19 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 20 | USE_SOURCE_PERMISSIONS 21 | ) 22 | -------------------------------------------------------------------------------- /joy_mouse/launch/kensington_trackball.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 7 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /joy_mouse/launch/trackpoint.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /joy_mouse/scripts/disable_mouse.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | 5 | try: 6 | import joy_mouse.xinput 7 | except: 8 | import roslib; roslib.load_manifest("joy_mouse") 9 | import joy_mouse.xinput 10 | 11 | import joy_mouse.joy 12 | 13 | if __name__ == "__main__": 14 | rospy.init_node("disbale_mouse") 15 | argv = rospy.myargv() 16 | if "--name" == argv[1]: #usage is disable_mouse.py --name foo 17 | dev = joy_mouse.joy.lookupDeviceFileByNameAttribute(argv[2]) 18 | else: 19 | dev = argv[1] 20 | joy_mouse.xinput.disableDeviceByRegexp(dev) 21 | -------------------------------------------------------------------------------- /joy_mouse/scripts/enable_mouse.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | 5 | try: 6 | import joy_mouse.xinput 7 | except: 8 | import roslib; roslib.load_manifest("joy_mouse") 9 | import joy_mouse.xinput 10 | 11 | import joy_mouse.joy 12 | 13 | if __name__ == "__main__": 14 | rospy.init_node("enabale_mouse") 15 | argv = rospy.myargv() 16 | if "--name" == argv[1]: #usage is disable_mouse.py --name foo 17 | dev = joy_mouse.joy.lookupDeviceFileByNameAttribute(argv[2]) 18 | else: 19 | dev = argv[1] 20 | joy_mouse.xinput.enableDeviceByRegexp(dev) 21 | -------------------------------------------------------------------------------- /joy_mouse/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['joy_mouse'], 9 | package_dir={'': 'src'}) 10 | 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /joy_mouse/src/joy_mouse/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/joy_mouse/src/joy_mouse/__init__.py -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/README.md: -------------------------------------------------------------------------------- 1 | # hrp2jsknt_calibration 2 | Please refer [hrp2jsknts_calibration](../hrp2jsknts_calibration/README.md). 3 | It's almost same. 4 | 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/capture_data/all_pipelines.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/capture_data/capture_data.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/capture_data/hardware_config/laser_config.yaml: -------------------------------------------------------------------------------- 1 | # laser config -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/capture_data/interval.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/capture_data/samples/00_LARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: LARM 2 | prompt: Please put the checkerboard in the left hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/capture_data/samples/01_RARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: RARM 2 | prompt: Please put the checkerboard in the right hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/estimate_params/config/free_torso.yaml: -------------------------------------------------------------------------------- 1 | 2 | transforms: 3 | head_joint: [0, 0, 1, 0, 0, 0] 4 | 5 | chains: 6 | arm_chain: 7 | gearing: [0, 0, 0, 0, 0, 0] 8 | head_chain: 9 | gearing: [0, 0] 10 | 11 | 12 | rectified_cams: 13 | head_camera: 14 | baseline_shift: 0 15 | f_shift: 0 16 | cx_shift: 0 17 | cy_shift: 0 18 | 19 | tilting_lasers: {} 20 | 21 | checkerboards: 22 | small_cb_4x5: 23 | spacing_x: 0 24 | spacing_y: 0 25 | 26 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/images/model.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_calibration/hrp2jsknt_calibration/images/model.png -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/view_results/scatter_config.yaml: -------------------------------------------------------------------------------- 1 | - name: "Head Camera: LARM" 2 | 3d: LARM_chain 3 | cam: head_camera 4 | plot_ops: 5 | color: g 6 | marker: s 7 | - name: "Head Camera: RARM" 8 | 3d: RARM_chain 9 | cam: head_camera 10 | plot_ops: 11 | color: b 12 | marker: s 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknt_calibration/view_results/view_scatter.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | rosrun calibration_estimation error_visualization.py /tmp/hrp2jsknt_calibration/cal_measurements.bag /tmp/hrp2jsknt_calibration/ `rospack find jsk_calibration`/hrp2jsknt_calibration/view_results/scatter_config.yaml 3 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknts_calibration/capture_data/all_pipelines.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknts_calibration/capture_data/hardware_config/laser_config.yaml: -------------------------------------------------------------------------------- 1 | # laser config -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknts_calibration/capture_data/interval.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknts_calibration/capture_data/samples/00_LARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: LARM 2 | prompt: Please put the checkerboard in the left hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknts_calibration/capture_data/samples/01_RARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: RARM 2 | prompt: Please put the checkerboard in the right hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknts_calibration/estimate_params/config/free_torso.yaml: -------------------------------------------------------------------------------- 1 | 2 | transforms: 3 | head_joint: [0, 0, 1, 0, 0, 0] 4 | 5 | chains: 6 | arm_chain: 7 | gearing: [0, 0, 0, 0, 0, 0] 8 | head_chain: 9 | gearing: [0, 0] 10 | 11 | 12 | rectified_cams: 13 | head_camera: 14 | baseline_shift: 0 15 | f_shift: 0 16 | cx_shift: 0 17 | cy_shift: 0 18 | 19 | tilting_lasers: {} 20 | 21 | checkerboards: 22 | small_cb_4x5: 23 | spacing_x: 0 24 | spacing_y: 0 25 | 26 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2jsknts_calibration/images/model.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_calibration/hrp2jsknts_calibration/images/model.png -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/README.md: -------------------------------------------------------------------------------- 1 | # hrp2jsknt_calibration 2 | Please refer [hrp2jsknts_calibration](../hrp2jsknts_calibration/README.md). 3 | It's almost same. 4 | 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/all_pipelines.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/hardware_config/controller_config.yaml: -------------------------------------------------------------------------------- 1 | fullbody_controller: 2 | topic: fullbody_controller/command 3 | joint_names: 4 | - CHEST_JOINT0 5 | - CHEST_JOINT1 6 | - HEAD_JOINT0 7 | - HEAD_JOINT1 8 | - RARM_JOINT0 9 | - RARM_JOINT1 10 | - RARM_JOINT2 11 | - RARM_JOINT3 12 | - RARM_JOINT4 13 | - RARM_JOINT5 14 | - RARM_JOINT6 15 | - RARM_JOINT7 16 | - LARM_JOINT0 17 | - LARM_JOINT1 18 | - LARM_JOINT2 19 | - LARM_JOINT3 20 | - LARM_JOINT4 21 | - LARM_JOINT5 22 | - LARM_JOINT6 23 | - LARM_JOINT7 24 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/hardware_config/laser_config.yaml: -------------------------------------------------------------------------------- 1 | # laser config -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0000.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 10.0 7 | positions: [0.0, 0.0, 0.139626, -0.174533, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -1.36561, 0.355923, -0.410559, -0.826245, -0.247688, -0.369861, -0.544801, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0000 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0001.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.29606 7 | positions: [0.0, 0.0, 0.383972, -0.174533, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -1.13934, -0.050295, -0.114826, -0.54025, 0.014404, 0.570251, -1.18101, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0001 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0003.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.60447 7 | positions: [0.0, 0.0, 0.383972, -0.174533, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -1.21247, 0.281056, -0.138233, -0.533837, -0.259784, 0.195885, -1.05635, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0003 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0004.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 6.0245 7 | positions: [0.0, 0.0, 0.628319, -0.174533, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.415109, 0.523917, 0.187122, -1.88197, -0.262306, 0.134023, -0.086317, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0004 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0005.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.62485 7 | positions: [0.0, 0.0, 0.628319, -0.174533, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.829928, 0.594301, 0.102871, -1.07082, -0.118965, -0.052003, -0.825438, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0005 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0006.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.40295 7 | positions: [0.0, 0.0, 0.628319, -0.174533, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -1.35945, 0.879398, -0.24698, -0.533097, -0.416949, -0.210774, -1.11203, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0006 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0007.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.94934 7 | positions: [0.0, 0.0, -0.10472, 0.087266, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.957493, 0.165895, -0.536372, -1.11736, -0.275522, -0.159347, -0.410084, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0007 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0008.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.54251 7 | positions: [0.0, 0.0, 0.139626, 0.087266, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.782024, 0.481017, -0.254944, -1.46254, -0.098336, -0.459349, -0.209075, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0008 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0009.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.2426 7 | positions: [0.0, 0.0, 0.383972, 0.087266, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.33725, -0.061513, -0.135284, -1.53502, -0.224778, 0.369322, -0.413925, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0009 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0010.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.59005 7 | positions: [0.0, 0.0, 0.383972, 0.087266, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -1.05941, 0.638214, -0.29555, -0.731657, -0.306121, -0.416582, -0.685537, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0010 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0011.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.86797 7 | positions: [0.0, 0.0, 0.628319, 0.087266, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.074349, 0.604444, 0.332449, -1.59722, -0.006451, -0.084746, -0.657349, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0011 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0012.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.9121 7 | positions: [0.0, 0.0, 0.628319, 0.087266, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.314191, 1.06702, 0.211374, -1.21352, -0.115632, -0.291482, -0.857759, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0012 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0013.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.24874 7 | positions: [0.0, 0.0, 0.628319, 0.087266, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.86689, 1.04106, -0.246761, -0.710304, -0.1253, -0.602444, -1.06027, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0013 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0014.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 4.33807 7 | positions: [0.0, 0.0, 0.139626, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.320443, 0.490854, -0.225901, -1.68106, -0.240714, -0.293752, -0.208097, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0014 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0015.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.85434 7 | positions: [0.0, 0.0, 0.383972, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.17706, -0.026878, -0.076065, -1.14368, -0.013953, 0.145716, -0.999, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0015 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0016.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.75492 7 | positions: [0.0, 0.0, 0.383972, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.464484, 0.326954, -0.112543, -0.750969, -0.167425, -0.02574, -1.31542, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0016 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0017.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.07251 7 | positions: [0.0, 0.0, 0.383972, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.418002, -0.174427, -0.158451, -0.806259, 0.213237, 0.514419, -0.961489, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0017 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0018.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.18628 7 | positions: [0.0, 0.0, 0.628319, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, 0.156421, 0.09312, 0.170031, -1.51927, -0.178402, 0.39097, -0.851763, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0018 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0019.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.66201 7 | positions: [0.0, 0.0, 0.628319, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, 0.473894, 0.979034, 0.61072, -1.5774, -0.032661, -0.32082, -0.799154, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0019 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0020.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.22317 7 | positions: [0.0, 0.0, 0.628319, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, 0.266236, 0.199286, 0.184651, -1.74607, 0.085885, 0.08762, -0.487256, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0020 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0021.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 5.56141 7 | positions: [0.0, 0.0, 0.628319, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.624692, 0.949791, -0.412751, -0.501563, -0.160013, -0.495244, -1.52938, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0021 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0022.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.61291 7 | positions: [0.0, 0.0, 0.628319, 0.349066, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.507015, 0.075756, 0.271156, -0.50694, 0.043433, 0.251413, -1.08309, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0022 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0023.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.60851 7 | positions: [0.0, 0.0, -0.10472, 0.610865, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.381424, -0.119682, -0.8132, -0.63153, 0.150294, 0.474368, -0.742662, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0023 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0024.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 4.89087 7 | positions: [0.0, 0.0, 0.139626, 0.610865, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.025205, 0.53671, -0.135807, -1.72599, 0.124943, -0.591795, -0.083915, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0024 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0025.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.89245 7 | positions: [0.0, 0.0, 0.383972, 0.610865, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.106206, 0.697371, -0.145359, -1.12609, -0.118287, -0.567536, -0.885378, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0025 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0026.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.98808 7 | positions: [0.0, 0.0, 0.383972, 0.610865, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.384928, 0.612382, -0.296848, -0.681209, -0.281414, -0.519524, -1.12543, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0026 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0027.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 5.86818 7 | positions: [0.0, 0.0, 0.628319, 0.610865, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, 0.933613, 0.761215, 0.815352, -1.99437, 0.143416, -0.587725, -0.341469, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0027 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0028.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 6.05438 7 | positions: [0.0, 0.0, 0.628319, 0.610865, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, -0.032342, 0.51289, -0.016645, -0.639542, -0.117216, -0.078935, -1.51017, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0028 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/LARM_0029.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.18356 7 | positions: [0.0, 0.0, 0.628319, 0.610865, 0.174533, -0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, 0.261799, 0.441185, 0.494253, 0.208977, -1.35195, -0.066875, -0.113208, -0.950534, -0.261799] 8 | joint_measurements: 9 | - {chain_id: LARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: LARM_0029 12 | target: {chain_id: LARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/00_LARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: LARM 2 | prompt: Please put the checkerboard in the left hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0000.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 10.0 7 | positions: [0.0, 0.0, -0.628319, -0.174533, -1.26395, -0.898526, 0.232005, -0.646652, 0.252075, 0.538855, -1.27738, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0000 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0001.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 3.1558 7 | positions: [0.0, 0.0, -0.628319, -0.174533, -0.662323, -1.05203, -0.182954, -1.35284, -0.015048, 0.425949, -0.646325, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0001 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0002.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.64352 7 | positions: [0.0, 0.0, -0.628319, 0.087266, 0.023095, -1.13406, -0.481426, -1.44818, -0.258796, 0.578442, -0.643946, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0002 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0003.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.04398 7 | positions: [0.0, 0.0, -0.628319, 0.087266, -0.07767, -0.63958, -0.327212, -1.57453, -0.132008, 0.220028, -0.650089, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0003 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0004.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.50698 7 | positions: [0.0, 0.0, -0.628319, 0.087266, -0.47441, -0.621262, -0.160502, -1.01353, 0.109896, 0.110431, -1.18483, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0004 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0005.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.76036 7 | positions: [0.0, 0.0, -0.628319, 0.087266, -0.275459, -0.214982, -0.146993, -1.40745, -0.039154, -0.12976, -0.847773, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0005 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0006.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.12123 7 | positions: [0.0, 0.0, -0.628319, 0.087266, -0.059589, -0.138049, -0.09604, -1.88213, 0.183994, -0.341495, -0.29403, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0006 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0007.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 4.97388 7 | positions: [0.0, 0.0, -0.628319, 0.087266, -0.646497, -0.24892, -0.16156, -0.769098, 0.035772, -0.217959, -1.38021, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0007 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0008.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 2.56463 7 | positions: [0.0, 0.0, -0.383972, 0.087266, -0.709404, -0.764412, 0.098552, -1.2219, 0.020228, 0.618532, -0.669583, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0008 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/RARM_0022.yaml: -------------------------------------------------------------------------------- 1 | camera_measurements: 2 | - {cam_id: head_camera, config: mmurooka_board} 3 | joint_commands: 4 | - controller: fullbody_controller 5 | segments: 6 | - duration: 1.66408 7 | positions: [0.0, 0.0, -0.628319, 0.610865, 0.257914, -0.483148, -0.147408, -1.09062, 0.124358, 0.1128, -1.31746, 0.261799, 0.174533, 0.174533, 0.0, -1.5708, 0.0, 0.0, -0.174533, -0.261799] 8 | joint_measurements: 9 | - {chain_id: RARM_chain, config: tight_tol} 10 | - {chain_id: head_chain, config: tight_tol} 11 | sample_id: RARM_0022 12 | target: {chain_id: RARM_chain, target_id: mmurooka_board} 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/samples/01_RARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: RARM 2 | prompt: Please put the checkerboard in the right hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/capture_data/settler.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 6 | 8 | 9 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/estimate_params/config/free_torso.yaml: -------------------------------------------------------------------------------- 1 | 2 | transforms: 3 | head_joint: [0, 0, 1, 0, 0, 0] 4 | 5 | chains: 6 | arm_chain: 7 | gearing: [0, 0, 0, 0, 0, 0] 8 | head_chain: 9 | gearing: [0, 0] 10 | 11 | 12 | rectified_cams: 13 | head_camera: 14 | baseline_shift: 0 15 | f_shift: 0 16 | cx_shift: 0 17 | cy_shift: 0 18 | 19 | tilting_lasers: {} 20 | 21 | checkerboards: 22 | small_cb_4x5: 23 | spacing_x: 0 24 | spacing_y: 0 25 | 26 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/view_results/scatter_config.yaml: -------------------------------------------------------------------------------- 1 | - name: "Head Camera: LARM" 2 | 3d: LARM_chain 3 | cam: head_camera 4 | plot_ops: 5 | color: g 6 | marker: s 7 | - name: "Head Camera: RARM" 8 | 3d: RARM_chain 9 | cam: head_camera 10 | plot_ops: 11 | color: b 12 | marker: s 13 | -------------------------------------------------------------------------------- /jsk_calibration/hrp2w_calibration/view_results/view_scatter.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | rosrun calibration_estimation error_visualization.py /tmp/hrp2w_calibration/cal_measurements.bag /tmp/hrp2w_calibration/ `rospack find jsk_calibration`/hrp2w_calibration/view_results/scatter_config.yaml 3 | -------------------------------------------------------------------------------- /jsk_calibration/images/pose_guesses.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_calibration/images/pose_guesses.png -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/capture_data/capture_data.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/capture_data/hardware_config/laser_config.yaml: -------------------------------------------------------------------------------- 1 | # laser config -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/capture_data/interval.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/capture_data/samples/00_LARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: LARM 2 | prompt: Please put the checkerboard in the left hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/capture_data/samples/01_RARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: RARM 2 | prompt: Please put the checkerboard in the right hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/estimate_params/config/free_torso.yaml: -------------------------------------------------------------------------------- 1 | 2 | transforms: 3 | head_joint: [0, 0, 1, 0, 0, 0] 4 | 5 | chains: 6 | arm_chain: 7 | gearing: [0, 0, 0, 0, 0, 0] 8 | head_chain: 9 | gearing: [0, 0, 0] 10 | 11 | 12 | rectified_cams: 13 | head_camera: 14 | baseline_shift: 0 15 | f_shift: 0 16 | cx_shift: 0 17 | cy_shift: 0 18 | 19 | tilting_lasers: {} 20 | 21 | checkerboards: 22 | small_cb_4x5: 23 | spacing_x: 0 24 | spacing_y: 0 25 | 26 | -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/view_results/scatter_config.yaml: -------------------------------------------------------------------------------- 1 | - name: "Head Camera: LARM" 2 | 3d: LARM_chain 3 | cam: head_camera 4 | plot_ops: 5 | color: g 6 | marker: s 7 | - name: "Head Camera: RARM" 8 | 3d: RARM_chain 9 | cam: head_camera 10 | plot_ops: 11 | color: b 12 | marker: s 13 | -------------------------------------------------------------------------------- /jsk_calibration/jaxon_calibration/view_results/view_scatter.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | rosrun calibration_estimation error_visualization.py /tmp/jaxon_calibration/cal_measurements.bag /tmp/jaxon_calibration/ `rospack find jsk_calibration`/jaxon_calibration/view_results/scatter_config.yaml 3 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/capture_data/capture_data.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/capture_data/hardware_config/laser_config.yaml: -------------------------------------------------------------------------------- 1 | # laser config -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/capture_data/interval.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/capture_data/samples/00_LARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: LARM 2 | prompt: Please put the checkerboard in the left hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/capture_data/samples/01_RARM/config.yaml: -------------------------------------------------------------------------------- 1 | group: RARM 2 | prompt: Please put the checkerboard in the right hand 3 | finish: Skipping arm samples 4 | repeat: False 5 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/capture_data/settler.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 6 | 8 | 9 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/estimate_params/config/free_torso.yaml: -------------------------------------------------------------------------------- 1 | 2 | transforms: 3 | head_joint: [0, 0, 1, 0, 0, 0] 4 | 5 | chains: 6 | arm_chain: 7 | gearing: [0, 0, 0, 0, 0, 0] 8 | head_chain: 9 | gearing: [0, 0] 10 | 11 | 12 | rectified_cams: 13 | head_camera: 14 | baseline_shift: 0 15 | f_shift: 0 16 | cx_shift: 0 17 | cy_shift: 0 18 | 19 | tilting_lasers: {} 20 | 21 | checkerboards: 22 | small_cb_4x5: 23 | spacing_x: 0 24 | spacing_y: 0 25 | 26 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/view_results/scatter_config.yaml: -------------------------------------------------------------------------------- 1 | - name: "Head Camera: LARM" 2 | 3d: LARM_chain 3 | cam: head_camera 4 | plot_ops: 5 | color: g 6 | marker: s 7 | - name: "Head Camera: RARM" 8 | 3d: RARM_chain 9 | cam: head_camera 10 | plot_ops: 11 | color: b 12 | marker: s 13 | -------------------------------------------------------------------------------- /jsk_calibration/staro_calibration/view_results/view_scatter.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | rosrun calibration_estimation error_visualization.py /tmp/staro_calibration/cal_measurements.bag /tmp/staro_calibration/ `rospack find jsk_calibration`/staro_calibration/view_results/scatter_config.yaml 3 | -------------------------------------------------------------------------------- /jsk_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(jsk_control) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /jsk_footstep_controller/action/GoPos.action: -------------------------------------------------------------------------------- 1 | # goal 2 | uint8 NEW_TARGET=0 3 | uint8 OVER_WRITE=1 4 | uint8 ABSOLUTE_NEW_TARGET=2 5 | uint8 ABSOLUTE_OVER_WRITE=3 6 | float32 x # [ m ] 7 | float32 y # [ m ] 8 | float32 theta # [ degree ] 9 | # geometry_msgs/PoseStamped pose ## used for absolute 10 | uint8 action # 0 (NEW_TARGET), 1 (OVER_WRITE) over write old destination while walking 11 | --- 12 | # result 13 | --- 14 | # feedback 15 | uint8 PRE_PLANNING=0 16 | uint8 PLANNING=1 17 | uint8 WALKING=2 18 | uint8 WAITING=3 19 | uint8 FINISH=4 20 | uint8 status 21 | int32 remaining_steps 22 | -------------------------------------------------------------------------------- /jsk_footstep_controller/action/LookAroundGround.action: -------------------------------------------------------------------------------- 1 | # goal 2 | --- 3 | # result 4 | --- 5 | #feedback 6 | -------------------------------------------------------------------------------- /jsk_footstep_controller/cfg/FootstepVisualizer.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # set up parameters that we care about 4 | PACKAGE = 'jsk_footstep_controller' 5 | 6 | from dynamic_reconfigure.parameter_generator_catkin import *; 7 | 8 | gen = ParameterGenerator () 9 | gen.add("zmp", bool_t, 0, "", True) 10 | gen.add("lcop", bool_t, 0, "", True) 11 | gen.add("rcop", bool_t, 0, "", True) 12 | gen.add("act_cp", bool_t, 0, "", True) 13 | gen.add("ref_cp", bool_t, 0, "", True) 14 | gen.add("cp_safe_area", bool_t, 0, "", True) 15 | exit (gen.generate (PACKAGE, "jsk_footstep_controller", "FootstepVisualizer")) 16 | -------------------------------------------------------------------------------- /jsk_footstep_controller/config/HRP2JSK.yaml: -------------------------------------------------------------------------------- 1 | # coordinate system 2 | 3 | # footstep_marker: lfoot_frame_id, rfoot_frame_id, lfoot_offset, rfoot_offset, footstep_margin 4 | footstep_margin: 0.21 5 | lfoot_frame_id: LLEG_LINK5 6 | rfoot_frame_id: RLEG_LINK5 7 | lfoot_offset: [0.03, 0.01, -0.105, 0, 0, 0, 1] 8 | rfoot_offset: [0.03, -0.01, -0.105, 0, 0, 0, 1] 9 | lleg_vertices: [[-0.106925, -0.070104], [-0.106925, 0.070104], [0.137525, 0.070104], [0.137525, -0.070104]] 10 | rleg_vertices: [[-0.106925, -0.070104], [-0.106925, 0.070104], [0.137525, 0.070104], [0.137525, -0.070104]] 11 | -------------------------------------------------------------------------------- /jsk_footstep_controller/config/HRP2JSKNT.yaml: -------------------------------------------------------------------------------- 1 | footstep_margin: 0.21 2 | lfoot_frame_id: LLEG_LINK5 3 | rfoot_frame_id: RLEG_LINK5 4 | lfoot_offset: [0.03, 0.01, -0.105, 0, 0, 0, 1] 5 | rfoot_offset: [0.03, -0.01, -0.105, 0, 0, 0, 1] 6 | lleg_vertices: [[-0.110589, -0.075184], [-0.110589, 0.075184], [0.143411, 0.075184], [0.143411, -0.075184]] 7 | rleg_vertices: [[-0.110589, -0.075184], [-0.110589, 0.075184], [0.143411, 0.075184], [0.143411, -0.075184]] 8 | -------------------------------------------------------------------------------- /jsk_footstep_controller/config/HRP2JSKNTS.yaml: -------------------------------------------------------------------------------- 1 | footstep_margin: 0.21 2 | lfoot_frame_id: LLEG_LINK5 3 | rfoot_frame_id: RLEG_LINK5 4 | lfoot_offset: [0.03, 0.01, -0.105, 0, 0, 0, 1] 5 | rfoot_offset: [0.03, -0.01, -0.105, 0, 0, 0, 1] 6 | lleg_vertices: [[-0.110589, -0.075184], [-0.110589, 0.075184], [0.143411, 0.075184], [0.143411, -0.075184]] 7 | rleg_vertices: [[-0.110589, -0.075184], [-0.110589, 0.075184], [0.143411, 0.075184], [0.143411, -0.075184]] 8 | -------------------------------------------------------------------------------- /jsk_footstep_controller/euslisp/base-controller.l: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env roseus 2 | 3 | (load "package://hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l") 4 | (ros::roseus "base_controller") 5 | 6 | (setq *ri* (instance rtm-ros-robot-interface :define-all-ROSBridge-srv-methods)) 7 | 8 | (ros::rate 5) 9 | (send *ri* :cmd-vel-mode) 10 | -------------------------------------------------------------------------------- /jsk_footstep_controller/euslisp/sample-root-height.l: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env roseus 2 | 3 | (load "package://jsk_footstep_controller/euslisp/root-height.l") 4 | (load "package://hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-interface.l") 5 | (setq *robot* (instance hrp2jsknt-robot :init)) 6 | (objects (list *robot*)) 7 | (test-root-height-init) 8 | (while (ros::ok) 9 | (test-root-height-all nil)) 10 | 11 | -------------------------------------------------------------------------------- /jsk_footstep_controller/images/footcoords.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_footstep_controller/images/footcoords.png -------------------------------------------------------------------------------- /jsk_footstep_controller/images/jaxon_odom_init.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_footstep_controller/images/jaxon_odom_init.png -------------------------------------------------------------------------------- /jsk_footstep_controller/launch/hrp2jsk_footcoords.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 8 | 9 | 10 | 13 | 14 | -------------------------------------------------------------------------------- /jsk_footstep_controller/launch/resetmanippose.launch: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /jsk_footstep_controller/launch/resetpose.launch: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /jsk_footstep_controller/launch/test_refinement.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 10 | 11 | -------------------------------------------------------------------------------- /jsk_footstep_controller/msg/FootCoordsLowLevelInfo.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float64 raw_lleg_force 3 | float64 raw_rleg_force 4 | float64 filtered_lleg_force 5 | float64 filtered_rleg_force 6 | float64 threshold 7 | -------------------------------------------------------------------------------- /jsk_footstep_controller/msg/GroundContactState.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | uint8 CONTACT_BOTH_GROUND=1 4 | uint8 CONTACT_AIR=2 5 | uint8 CONTACT_LLEG_GROUND=3 6 | uint8 CONTACT_RLEG_GROUND=4 7 | uint8 CONTACT_UNSTABLE=5 8 | uint8 contact_state 9 | 10 | float64 error_pitch_angle 11 | float64 error_roll_angle 12 | float64 error_yaw_angle 13 | float64 error_z 14 | -------------------------------------------------------------------------------- /jsk_footstep_controller/msg/SynchronizedForces.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/WrenchStamped lleg_force 3 | geometry_msgs/WrenchStamped rleg_force 4 | sensor_msgs/JointState joint_angles 5 | geometry_msgs/PointStamped zmp 6 | -------------------------------------------------------------------------------- /jsk_footstep_controller/srv/RequireLog.srv: -------------------------------------------------------------------------------- 1 | --- 2 | string sexp 3 | -------------------------------------------------------------------------------- /jsk_footstep_controller/srv/RequireMonitorStatus.srv: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 threshold 3 | --- 4 | bool go 5 | 6 | -------------------------------------------------------------------------------- /jsk_footstep_planner/.gitignore: -------------------------------------------------------------------------------- 1 | euslisp/*.c 2 | euslisp/*.h 3 | -------------------------------------------------------------------------------- /jsk_footstep_planner/cfg/FootstepMarker.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # set up parameters that we care about 4 | PACKAGE = 'jsk_footstep_planner' 5 | 6 | from dynamic_reconfigure.parameter_generator_catkin import *; 7 | 8 | from math import pi 9 | 10 | gen = ParameterGenerator () 11 | gen.add("disable_tf", bool_t, 0, "", False) 12 | gen.add("default_footstep_margin", double_t, 0, "", 0.2, 0.1, 0.3) 13 | gen.add("use_default_step_as_goal", bool_t, 0, "", False) 14 | exit (gen.generate (PACKAGE, "jsk_footstep_planner", "FootstepMarker")) 15 | -------------------------------------------------------------------------------- /jsk_footstep_planner/config/footstep_buttons.yaml: -------------------------------------------------------------------------------- 1 | robot_command_buttons: 2 | - name: "Reset Walking Pose" 3 | type: emptysrv 4 | srv: "/footstep_command/reset_walking_pose" 5 | - name: "Reset Pose" 6 | type: emptysrv 7 | srv: "/footstep_command/reset_pose" 8 | - name: "Start ABC" 9 | type: emptysrv 10 | srv: "/footstep_command/start_abc" 11 | -------------------------------------------------------------------------------- /jsk_footstep_planner/euslisp/sample-astar.l: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env roseus 2 | (comp:compile-file-if-src-newer 3 | (format nil "~A/euslisp/sample_astar_func.l" 4 | (ros::rospack-find "jsk_footstep_planner"))) 5 | (let ((old-module (find "sample_astar_func" *loaded-modules* 6 | :key #'lisp::load-module-file-name :test #'equal))) 7 | (if old-module (sys::unbinload old-module))) 8 | (load "sample_astar_func") 9 | (run) -------------------------------------------------------------------------------- /jsk_footstep_planner/images/footstep_planner_perception_sample.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_footstep_planner/images/footstep_planner_perception_sample.gif -------------------------------------------------------------------------------- /jsk_footstep_planner/images/jaxon_footstep_planner_gazebo_no_perception.png: 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/jsk_footstep_planner/launch/footstep_successors_visualization.launch: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | -------------------------------------------------------------------------------- /jsk_footstep_planner/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b jsk_footstep_planner 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /jsk_footstep_planner/scripts/pose_array.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | import roslib 5 | 6 | 7 | from geometry_msgs.msg import PoseArray 8 | from jsk_footstep_msgs.msg import FootstepArray 9 | 10 | 11 | def cb(msg): 12 | global p 13 | array = PoseArray() 14 | array.header = msg.header 15 | for footstep in msg.footsteps: 16 | array.poses.append(footstep.pose) 17 | p.publish(array) 18 | 19 | rospy.init_node("foo") 20 | 21 | p = rospy.Publisher("pose_array", PoseArray) 22 | s = rospy.Subscriber("/footstep", FootstepArray, cb) 23 | 24 | rospy.spin() 25 | -------------------------------------------------------------------------------- /jsk_footstep_planner/src/grid_path_planner_node.cpp: -------------------------------------------------------------------------------- 1 | // -*- mode: c++ -*- 2 | //pcl 3 | #include // pcl::console 4 | #include "jsk_footstep_planner/grid_path_planner.h" 5 | 6 | int main(int argc, char** argv) 7 | { 8 | pcl::console::setVerbosityLevel(pcl::console::L_ERROR); 9 | 10 | ros::init(argc, argv, "grid_path_planner"); 11 | ros::NodeHandle pnh("~"); 12 | 13 | jsk_footstep_planner::GridPathPlanner planner(pnh); 14 | 15 | ros::spin(); 16 | } 17 | -------------------------------------------------------------------------------- /jsk_footstep_planner/srv/ChangeSuccessor.srv: 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/jsk_ik_server/euslisp/ik-server-impl/sample-robot-ik-server.l: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env roseus 2 | 3 | (ros::load-ros-manifest "jsk_ik_server") 4 | 5 | (require :samplerobot "package://hrpsys_ros_bridge_tutorials/models/samplerobot.l") 6 | (require "package://jsk_ik_server/euslisp/ik-server.l") 7 | 8 | (ros::roseus "sample_robot_ik_server") 9 | 10 | (defvar *sample-robot-ik-server* (instance ik-server :init :robot (instance samplerobot-robot :init) :ik-server-name "sample_robot_ik_server")) 11 | (send *sample-robot-ik-server* :start-ik-server) 12 | -------------------------------------------------------------------------------- /jsk_ik_server/launch/hrp2jsknt-ik-server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /jsk_ik_server/launch/hrp2jsknts-ik-server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /jsk_ik_server/launch/jaxon-ik-server.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /jsk_ik_server/launch/jaxon_red-ik-server.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /jsk_ik_server/launch/staro-ik-server.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /jsk_ik_server/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b jsk_ik_server 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /jsk_ik_server/sample/teleop/img/data.l: -------------------------------------------------------------------------------- 1 | (defvar *data-list* 2 | (list 3 | (list (cons :name "reset") (cons :path "reset.jpg") (cons :pose_key ":reset-pose")) 4 | (list (cons :name "manip") (cons :path "manip.jpg") (cons :pose_key ":reset-manip-pose")))) 5 | -------------------------------------------------------------------------------- /jsk_ik_server/sample/teleop/img/manip.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_ik_server/sample/teleop/img/manip.jpg 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-------------------------------------------------------------------------------- /jsk_teleop_joy/launch/marker.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /jsk_teleop_joy/launch/pr2_trackball_head.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /jsk_teleop_joy/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b jsk_teleop_joy 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /jsk_teleop_joy/scripts/joy_main.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # only if groovy 4 | import os 5 | import roslib 6 | if os.environ["ROS_DISTRO"] == "groovy": 7 | roslib.load_manifest('jsk_teleop_joy') 8 | 9 | import jsk_teleop_joy.joy 10 | 11 | if __name__ == '__main__': 12 | jsk_teleop_joy.joy.main() 13 | -------------------------------------------------------------------------------- /jsk_teleop_joy/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['jsk_teleop_joy', 'jsk_teleop_joy.plugin'], 9 | package_dir={'': 'src'}) 10 | 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /jsk_teleop_joy/src/jsk_teleop_joy/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_teleop_joy/src/jsk_teleop_joy/__init__.py -------------------------------------------------------------------------------- /jsk_teleop_joy/src/jsk_teleop_joy/plugin/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jsk-ros-pkg/jsk_control/42d1545e82c634390d1cf543eafa2288d607362a/jsk_teleop_joy/src/jsk_teleop_joy/plugin/__init__.py --------------------------------------------------------------------------------