• launch/_gen_collision_pair.launch
  • • MODEL_FILE [default: $(find openhrp3)/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl]
    • CORBA_PORT [default: 2809]
• launch/hrpsys.launch
  • • PROJECT_FILE
    • MODEL_FILE
    • CONF_FILE
    • RESPAWN_MODELLOADER [default: true]
    • RESPAWN_RTCD [default: false]
    • RESPAWN_SIMULATOR [default: true]
    • OUTPUT [default: log]
    • SIMULATOR_NAME
    • nameserver [default: localhost]
    • corbaport [default: 15005]
    • managerport [default: 2810]
    • KILL_SERVERS [default: false]
    • omniorb_args [default: -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService]
    • openrtm_args [default: -o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "logger.file_name:/tmp/rtc%p.log"]
    • USE_RTCD [default: false]
    • USE_CHOREONOID [default: false]
    • REALTIME [default: false]
    • GUI [default: true]
    • DEBUG_HRPSYS [default: false]
    • RTCD_LAUNCH_PREFIX [default: ]
    • RTCD_LAUNCH_PREFIX [default: xterm -e gdb -iex "set height 0" -ex run --args]
    • PY_LAUNCH_PREFIX [default: ]
    • hrpsys_periodic_rate [default: 1000000]
    • hrpsys_precreate_rtc [default: HGcontroller]
    • hrpsys_preload_rtc [default: $(arg hrpsys_precreate_rtc).so]
    • hrpsys_periodic_rate [default: 200]
    • hrpsys_preload_rtc [default: RobotHardware.so,hrpEC.so]
    • hrpsys_precreate_rtc [default: RobotHardware]
    • hrpsys_load_path [default: $(find hrpsys)/lib]
    • RobotHardware_conf [default: $(arg CONF_FILE)]
    • hrpsys_rtc_config_args [default: -o "example.SequencePlayer.config_file:$(arg CONF_FILE)" -o "example.ForwardKinematics.config_file:$(arg CONF_FILE)" -o "example.ImpedanceController.config_file:$(arg CONF_FILE)" -o "example.AutoBalancer.config_file:$(arg CONF_FILE)" -o "example.StateHolder.config_file:$(arg CONF_FILE)" -o "example.TorqueFilter.config_file:$(arg CONF_FILE)" -o "example.TorqueController.config_file:$(arg CONF_FILE)" -o "example.ThermoEstimator.config_file:$(arg CONF_FILE)" -o "example.ThermoLimiter.config_file:$(arg CONF_FILE)" -o "example.VirtualForceSensor.config_file:$(arg CONF_FILE)" -o "example.AbsoluteForceSensor.config_file:$(arg CONF_FILE)" -o "example.RemoveForceSensorLinkOffset.config_file:$(arg CONF_FILE)" -o "example.KalmanFilter.config_file:$(arg CONF_FILE)" -o "example.Stabilizer.config_file:$(arg CONF_FILE)" -o "example.CollisionDetector.config_file:$(arg CONF_FILE)" -o "example.SoftErrorLimiter.config_file:$(arg CONF_FILE)" -o "example.HGcontroller.config_file:$(arg CONF_FILE)" -o "example.PDcontroller.config_file:$(arg CONF_FILE)" -o "example.EmergencyStopper.config_file:$(arg CONF_FILE)" -o "example.ReferenceForceUpdater.config_file:$(arg CONF_FILE)" -o "example.ObjectContactTurnaroundDetector.config_file:$(arg CONF_FILE)" -o "example.RobotHardware.config_file:$(arg RobotHardware_conf)" ]
    • hrpsys_opt_rtc_config_args [default: ]
    • hrpsys_args [default: -o "exec_cxt.periodic.rate:$(arg hrpsys_periodic_rate)" -o "manager.shutdown_onrtcs:NO" -o "manager.modules.load_path:$(arg hrpsys_load_path)" -o "manager.modules.preload:$(arg hrpsys_preload_rtc)" -o "manager.components.precreate:$(arg hrpsys_precreate_rtc)" -o "exec_cxt.periodic.type:$(arg hrpsys_periodic_type)" $(arg hrpsys_rtc_config_args) $(arg hrpsys_opt_rtc_config_args) ]
    • hrpsys_args [default: -o "manager.shutdown_onrtcs:NO" -o "manager.modules.load_path:$(arg hrpsys_load_path)" -o "manager.modules.preload:$(arg hrpsys_preload_rtc)" -o "manager.components.precreate:$(arg hrpsys_precreate_rtc)" $(arg hrpsys_rtc_config_args) $(arg hrpsys_opt_rtc_config_args) ]
    • openrtm_openhrp_server_start [default: true]
    • HRPSYS_PY_PKG [default: hrpsys_tools]
    • HRPSYS_PY_NAME [default: hrpsys_tools_config.py]
    • HRPSYS_PY_ARGS [default: ]
    • LAUNCH_HRPSYSPY [default: true]
• launch/_gen_project.launch
  • • INPUT
    • OUTPUT
    • CONF_FILE_OPTION [default: ]
    • ROBOTHARDWARE_CONF_FILE_OPTION [default: ]
    • CORBA_PORT [default: 2809]
    • OBJECT_MODELS [default: $(find openhrp3)/share/OpenHRP-3.1/sample/model/longfloor.wrl,0,0,0,0,0,1,0]
    • INTEGRATE [default: true]
    • CONF_DT_OPTION [default: ]
    • SIMULATION_TIMESTEP_OPTION [default: ]
    • SIMULATION_JOINT_PROPERTIES_OPTION [default: ]
    • USE_HIGHGAIN_MODE_OPTION [default: ]
• samples/pa10.launch
  • • GUI [default: true]
    • corbaport [default: 15005]
    • GUI [default: $(arg GUI)]
    • corbaport [default: $(arg corbaport)]

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