Merge pull request start-jsk#135 from snozawa/compile_hrp4r_in_catkin…

…_system

Merged.

hrpsys_ros_bridge_tutorials/catkin.cmake

@@ -159,14 +159,13 @@ compile_openhrp_model_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W
 #  -a rightarm_torso,BODY,RARM_LINK6,-0.0042,0.0392,-0.1245,3.373247e-18,1.0,-9.813081e-18,1.5708,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1
 #  -a rightarm_grasp,CHEST_LINK1,RARM_LINK6,0.0,0.03,-0.17,-1.0,0.0,0.0,2.0944,R_THUMBCM_Y,0,R_THUMBCM_P,1,R_INDEXMP_R,0,R_INDEXMP_P,0,R_INDEXPIP_R,1,R_MIDDLEPIP_R,1
 #   )
-# compile_openhrp_model_for_closed_robots(HRP4R HRP4R HRP4R
-#   -a leftarm,L_SHOULDER_P_LINK,L_WRIST_R_LINK,0,0,0,0,0,0,1,L_HAND_J0,-1,L_HAND_J1,-1
-#   -a rightarm,R_SHOULDER_P_LINK,R_WRIST_R_LINK,0,0,0,0,0,0,1,R_HAND_J0,1,R_HAND_J1,1
-#   --conf-file-option "virtual_force_sensor: vlhsensor, CHEST_Y, L_WRIST_R, 0,0,0, 0,0,1,0, vrhsensor, CHEST_Y, R_WRIST_R, 0,0,0, 0,0,1,0, vlfsensor, WAIST, L_ANKLE_R, 0,0,0, 0,0,1,0, vrfsensor, WAIST, R_ANKLE_R, 0,0,0, 0,0,1,0"
-#   --conf-file-option "abc_leg_offset: 0.0, 0.079919, 0.0"
-#   --conf-file-option "abc_end_effectors: rarm,R_WRIST_R,CHEST_Y, larm,L_WRIST_R,CHEST_Y, rleg,R_ANKLE_R,WAIST, lleg,L_ANKLE_R,WAIST,"
-#   --conf-file-option "end_effectors: rarm,R_WRIST_R,CHEST_Y,0.0,0.0,-0.1,-1.471962e-17,1.0,-1.471962e-17,1.5708, larm,L_WRIST_R,CHEST_Y,0.0,0.0,-0.1,1.471962e-17,1.0,1.471962e-17,1.5708, rleg,R_ANKLE_R,WAIST,0.0,0.0,-0.091849,0.0,0.0,0.0,0.0, lleg,L_ANKLE_R,WAIST,0.0,0.0,-0.091849,0.0,0.0,0.0,0.0,"
-#   )
+compile_openhrp_model_for_closed_robots(HRP4R HRP4R HRP4R
+  -a leftarm,L_SHOULDER_P_LINK,L_WRIST_R_LINK,0,0,0,0,0,0,1,L_HAND_J0,-1,L_HAND_J1,-1
+  -a rightarm,R_SHOULDER_P_LINK,R_WRIST_R_LINK,0,0,0,0,0,0,1,R_HAND_J0,1,R_HAND_J1,1
+  --conf-file-option "virtual_force_sensor: vlhsensor, CHEST_Y, L_WRIST_R, 0,0,0, 0,0,1,0, vrhsensor, CHEST_Y, R_WRIST_R, 0,0,0, 0,0,1,0, vlfsensor, WAIST, L_ANKLE_R, 0,0,0, 0,0,1,0, vrfsensor, WAIST, R_ANKLE_R, 0,0,0, 0,0,1,0"
+  --conf-file-option "abc_leg_offset: 0.0, 0.079919, 0.0"
+  --conf-file-option "end_effectors: rarm,R_WRIST_R,CHEST_Y,0.0,0.0,-0.1,-1.471962e-17,1.0,-1.471962e-17,1.5708, larm,L_WRIST_R,CHEST_Y,0.0,0.0,-0.1,1.471962e-17,1.0,1.471962e-17,1.5708, rleg,R_ANKLE_R,WAIST,0.0,0.0,-0.091849,0.0,0.0,0.0,0.0, lleg,L_ANKLE_R,WAIST,0.0,0.0,-0.091849,0.0,0.0,0.0,0.0,"
+  )
 
 if(EXISTS $ENV{CVSDIR}/OpenHRP/etc/HRP3HAND_L/HRP3HAND_Lmain.wrl)
   compile_openhrp_model(