{"action":"created","issue":{"url":"https://api.github.com/repos/eisoku9618/kuroiwa_demos/issues/16","labels_url":"https://api.github.com/repos/eisoku9618/kuroiwa_demos/issues/16/labels{/name}","comments_url":"https://api.github.com/repos/eisoku9618/kuroiwa_demos/issues/16/comments","events_url":"https://api.github.com/repos/eisoku9618/kuroiwa_demos/issues/16/events","html_url":"https://github.com/eisoku9618/kuroiwa_demos/pull/16","id":116724813,"number":16,"title":"[python/hrpsys-plot] add st-check config for hrpsys-simulator","user":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":12,"created_at":"2015-11-13T08:42:42Z","updated_at":"2015-12-25T20:37:18Z","closed_at":"2015-11-13T08:42:51Z","pull_request":{"url":"https://api.github.com/repos/eisoku9618/kuroiwa_demos/pulls/16","html_url":"https://github.com/eisoku9618/kuroiwa_demos/pull/16","diff_url":"https://github.com/eisoku9618/kuroiwa_demos/pull/16.diff","patch_url":"https://github.com/eisoku9618/kuroiwa_demos/pull/16.patch"},"body":"### run sinmulator\r\n```bash\r\nopenhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl `rospack find hrpsys`/samples/environments/PushBox.wrl,0.7,-0.52,1,0,0,1,1.57 --use-highgain-mode false --output /tmp/SampleRobot_for_torquecontrol.xml --timeStep 0.001 --dt 0.002 --method RUNGE_KUTTA\r\nexport BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find openhrp3`/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf\r\nrtmlaunch hrpsys_ros_bridge samplerobot.launch PROJECT_FILE:=/tmp/SampleRobot_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller USE_UNSTABLE_RTC:=true RUN_RVIZ:=false\r\n```\r\n\r\n\r\n### reproduce bug of st\r\n\r\n```lisp\r\nroseus `rospack find hrpsys_ros_bridge`/euslisp/samplerobot-interface.l \"(progn                                                                                                                                                                                                                                                                                                                                                                                                 \r\n  (setq *robot* (samplerobot-init))                                                                                                                                                                                                                                                                                                                                                                                                    \r\n  (send *ri* :set-log-maxlength (* 500 8))                                                                                                                                                                                                                                                                                                                                                                                             \r\n  (send *ri* :angle-vector (send *robot* :reset-manip-pose) 200)                                                                                                                                                                                                                                                                                                                                                                       \r\n  (send *ri* :wait-interpolation)                                                                                                                                                                                                                                                                                                                                                                                                      \r\n  (send *ri* :start-default-unstable-controllers)                                                                                                                                                                                                                                                                                                                                                                                      \r\n  (send *ri* :set-gait-generator-param :default-step-time 1.5)                                                                                                                                                                                                                                                                                                                                                                         \r\n  (send *ri* :go-pos 1.2 0 0)                                                                                                                                                                                                                                                                                                                                                                                                          \r\n  (send *ri* :save-log \\\"/tmp/a\\\")                                                                                                                                                                                                                                                                                                                                                                                                     \r\n  (exit)                                                                                                                                                                                                                                                                                                                                                                                                                               \r\n  )\"\r\n```"},"comment":{"url":"https://api.github.com/repos/eisoku9618/kuroiwa_demos/issues/comments/167261553","html_url":"https://github.com/eisoku9618/kuroiwa_demos/pull/16#issuecomment-167261553","issue_url":"https://api.github.com/repos/eisoku9618/kuroiwa_demos/issues/16","id":167261553,"user":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"created_at":"2015-12-25T20:37:18Z","updated_at":"2015-12-25T20:37:18Z","body":"```lisp\r\n(progn\r\n  (load \"package://hrpsys_ros_bridge_tutorials/euslisp/samplerobot-interface.l\")\r\n  (load \"package://hrpsys_ros_bridge/euslisp/datalogger-log-parser.l\")\r\n  (setq *ri* (instance datalogger-log-parser-controller\r\n                        :init \"/tmp/f_SampleRobot_20151226052223\"\r\n                        :robot samplerobot-robot))\r\n  (objects (list (send *ri* :robot)))\r\n  (do-until-key\r\n   (send *ri* :state)\r\n   (let* ((vw (send *irtviewer* :viewer))\r\n          (prev-color (send vw :viewsurface :color))\r\n          (prev-width (send vw :viewsurface :line-width))\r\n          (robot (send *ri* :robot)))\r\n     (send vw :draw-objects :flush nil)\r\n     (unwind-protect\r\n         (progn\r\n           (send vw :viewsurface :color #F(1 0.3 1))\r\n           (send vw :viewsurface :line-width 2)\r\n           (mapcar #'(lambda (f tc)\r\n                       (send vw :draw-arrow\r\n                             (send tc :worldpos)\r\n                             (v+ (send tc :worldpos) (scale 1.5 f))))\r\n                   (send *ri* :force-vector)\r\n                   (mapcar #'(lambda (l) (send robot l :end-coords))\r\n                           (list :rleg :lleg :rarm :larm))))\r\n       (send vw :viewsurface :color prev-color)\r\n       (send vw :viewsurface :line-width prev-width)\r\n       )\r\n     (send vw :viewsurface :flush))\r\n   (x::window-main-one))\r\n  )\r\n```\r\n\r\nでログを再生できる．"}}