remove environment variable for HRP2

hrpsys_choreonoid_tutorials/launch/hrp2jsk_choreonoid.launch

@@ -7,12 +7,12 @@
     <!-- <arg name="LAUNCH_FOOTCOORDS" default="true" /> -->
     <arg name="LAUNCH_FOOTCOORDS"    value="false" />
     <arg name="ENVIRONMENT_YAML"     value="$(arg ENVIRONMENT_YAML)" />
-    <arg name="CHOREONOID_ROBOT"     value="HRP2JSK"/>
+    <arg name="ROBOT_NAME"           value="HRP2JSK"/>
     <arg name="MODEL_FILE"           value="$(find hrp2_models)/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl"/>
     <arg name="COLLADA_FILE"         value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_WH_SENSORS.urdf"/>
     <arg name="CONF_FILE"            value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK.conf"/>
     <arg name="HRPSYS_PY_PKG"        value="hrpsys_choreonoid_tutorials"/>
-    <arg name="HRPSYS_PY_NAME"       value="hrp2_rh_setup.py" />
+    <arg name="HRPSYS_PY_NAME"       value="hrp2jsk_rh_setup.py" />
     <arg name="CONTROLLER_CONFIG"    value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_controller_config.yaml" />
     <arg name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKCustomizer.yaml" />
   </include>

hrpsys_choreonoid_tutorials/launch/hrp2jsknt_choreonoid.launch

@@ -7,12 +7,12 @@
     <!-- <arg name="LAUNCH_FOOTCOORDS" default="true" /> -->
     <arg name="LAUNCH_FOOTCOORDS"    value="false" />
     <arg name="ENVIRONMENT_YAML"     value="$(arg ENVIRONMENT_YAML)" />
-    <arg name="CHOREONOID_ROBOT"     value="HRP2JSKNT"/>
+    <arg name="ROBOT_NAME"           value="HRP2JSKNT"/>
     <arg name="MODEL_FILE"           value="$(find hrp2_models)/HRP2JSKNT_WITH_3HAND_for_OpenHRP3/HRP2JSKNTmain.wrl"/>
     <arg name="COLLADA_FILE"         value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_WH_SENSORS.urdf"/>
     <arg name="CONF_FILE"            value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT.conf"/>
     <arg name="HRPSYS_PY_PKG"        value="hrpsys_choreonoid_tutorials"/>
-    <arg name="HRPSYS_PY_NAME"       value="hrp2_rh_setup.py" />
+    <arg name="HRPSYS_PY_NAME"       value="hrp2jsknt_rh_setup.py" />
     <arg name="CONTROLLER_CONFIG"    value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" />
     <arg name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNTCustomizer.yaml" />
   </include>

hrpsys_choreonoid_tutorials/launch/hrp2jsknts_choreonoid.launch

@@ -14,12 +14,12 @@
     <arg name="VISION_CONNECT_FILE"  default="$(find hrpsys_choreonoid_tutorials)/launch/hrp2jsknts_vision_connect.launch" />
     <arg name="LAUNCH_FOOTCOORDS"    default="$(arg LAUNCH_FOOTCOORDS)" />
     <arg name="ENVIRONMENT_YAML"     value="$(arg ENVIRONMENT_YAML)" />
-    <arg name="CHOREONOID_ROBOT"     value="HRP2JSKNTS"/>
+    <arg name="ROBOT_NAME"           value="HRP2JSKNTS"/>
     <arg name="MODEL_FILE"           value="$(find hrp2_models)/HRP2JSKNTS_WITH_3HAND_for_OpenHRP3/HRP2JSKNTSmain.wrl"/>
     <arg name="COLLADA_FILE"         value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_WH_SENSORS.urdf"/>
     <arg name="CONF_FILE"            value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.conf"/>
     <arg name="HRPSYS_PY_PKG"        value="hrpsys_choreonoid_tutorials"/>
-    <arg name="HRPSYS_PY_NAME"       value="hrp2_rh_setup.py" />
+    <arg name="HRPSYS_PY_NAME"       value="hrp2jsknts_rh_setup.py" />
     <arg name="CONTROLLER_CONFIG"    value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" />
     <arg name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNTSCustomizer.yaml" />
     <arg name="USE_SOFTERRORLIMIT" value="true" />

hrpsys_choreonoid_tutorials/launch/robot_choreonoid.launch

@@ -9,8 +9,8 @@
   <arg name="hrpsys_precreate_rtc" default=""/>
   <arg name="LAUNCH_FOOTCOORDS" default="true" />
 
-  <arg name="CHOREONOID_ROBOT" default="JAXON_RED"/>
-  <env name="CHOREONOID_ROBOT" value="$(arg CHOREONOID_ROBOT)" /> <!-- for JAXONCustomizer and some setup.py -->
+  <arg name="ROBOT_NAME" default="JAXON_RED"/>
+  <env name="CHOREONOID_ROBOT" value="$(arg ROBOT_NAME)" /> <!-- for JAXONCustomizer -->
 
   <arg name="CUSTOMIZER_CONF_FILE" default="" />
   <env name="CUSTOMIZER_CONF_FILE" value="$(arg CUSTOMIZER_CONF_FILE)" if="$(eval bool(arg('CUSTOMIZER_CONF_FILE')))"/> <!-- for JAXONCustomizer -->
@@ -22,8 +22,8 @@
        name="taskname_last" value="LOAD_OBJ_NW" />
   <arg unless="$(arg NO_SCENE)"
        name="taskname_last" value="LOAD_OBJ" />
-  <arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/$(arg CHOREONOID_ROBOT)_$(arg taskname_last).cnoid" />
-  <arg name="SIMULATOR_NAME" default="$(arg CHOREONOID_ROBOT)(Robot)0" />
+  <arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/$(arg ROBOT_NAME)_$(arg taskname_last).cnoid" />
+  <arg name="SIMULATOR_NAME" default="$(arg ROBOT_NAME)(Robot)0" />
   <arg name="BRIDGE_SIMULATOR_NAME" default="RobotHardware_choreonoid0" />
   <arg name="MODEL_FILE"     default="$(find jvrc_models)/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl"/>
   <arg name="COLLADA_FILE"   default="$(find hrpsys_choreonoid_tutorials)/models/JAXON_JVRC_SENSORS.urdf"/>

hrpsys_choreonoid_tutorials/scripts/hrp2jsk_rh_setup.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
+
+if __name__ == '__main__':
+    hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSK")
+    if len(sys.argv) > 2 :
+        hcf.init(sys.argv[1], sys.argv[2])
+        hcf.startABSTIMP()
+    elif len(sys.argv) > 1 :
+        hcf.init(sys.argv[1])
+        hcf.startABSTIMP()
+    else :
+        hcf.init()

hrpsys_choreonoid_tutorials/scripts/hrp2jsknt_rh_setup.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
+
+if __name__ == '__main__':
+    hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSKNT")
+    if len(sys.argv) > 2 :
+        hcf.init(sys.argv[1], sys.argv[2])
+        hcf.startABSTIMP()
+    elif len(sys.argv) > 1 :
+        hcf.init(sys.argv[1])
+        hcf.startABSTIMP()
+    else :
+        hcf.init()

hrpsys_choreonoid_tutorials/scripts/hrp2jsknts_rh_setup.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
+
+if __name__ == '__main__':
+    hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSKNTS")
+    if len(sys.argv) > 2 :
+        hcf.init(sys.argv[1], sys.argv[2])
+        hcf.startABSTIMP()
+    elif len(sys.argv) > 1 :
+        hcf.init(sys.argv[1])
+        hcf.startABSTIMP()
+    else :
+        hcf.init()

hrpsys_choreonoid_tutorials/scripts/hrp2_rh_setup.py → hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/hrp2_choreonoid_hrpsys_config.py

@@ -76,22 +76,3 @@ def startABSTIMP (self):
         self.ic_svc.startImpedanceController("larm")
         self.ic_svc.startImpedanceController("rarm")
         self.startStabilizer()
-
-if __name__ == '__main__':
-    if os.environ["CHOREONOID_ROBOT"] == "HRP2JSKNTS":
-        robot_name = "HRP2JSKNTS"
-    elif os.environ["CHOREONOID_ROBOT"] == "HRP2JSKNT":
-        robot_name = "HRP2JSKNT"
-    elif os.environ["CHOREONOID_ROBOT"] == "HRP2JSK":
-        robot_name = "HRP2JSK"
-    else:
-        robot_name = ""
-    hcf = JSKHRP2ChoreonoidHrpsysConfigurator(robot_name)
-    if len(sys.argv) > 2 :
-        hcf.init(sys.argv[1], sys.argv[2])
-        hcf.startABSTIMP()
-    elif len(sys.argv) > 1 :
-        hcf.init(sys.argv[1])
-        hcf.startABSTIMP()
-    else :
-        hcf.init()