From e523834eeaaccae0762b3638e2a1700c9cdcf210 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 20 Jun 2021 16:18:26 +0900
Subject: [PATCH] [hironx_ros_bridge] to reproduce
 https://github.com/fkanehiro/openhrp3/pull/126 by rtmlaunch hironx_ros_bridge
 hironx_startup.launch

---
 hironx_ros_bridge/launch/hironx_startup.launch | 2 +-
 hironx_ros_bridge/models/kawada-hironx.dae     | 5 +++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/hironx_ros_bridge/launch/hironx_startup.launch b/hironx_ros_bridge/launch/hironx_startup.launch
index 61083450..d2570a2f 100644
--- a/hironx_ros_bridge/launch/hironx_startup.launch
+++ b/hironx_ros_bridge/launch/hironx_startup.launch
@@ -2,7 +2,7 @@
   <arg name="GUI" default="true" />
   <arg name="LAUNCH_HRPSYSPY" default="true" />
   <arg name="REALTIME" default="true" />
-  <arg name="PROJECT_FILE" default="$(find hironx_ros_bridge)/conf/kawada-hironx_nosim.xml" />
+  <arg name="PROJECT_FILE" default="$(find hironx_ros_bridge)/conf/kawada-hironx.xml" />
   <arg name="MODEL_FILE" default="$(find hironx_ros_bridge)/models/kawada-hironx.dae" />
   <arg name="CONF_FILE" default="$(find hironx_ros_bridge)/conf/kawada-hironx.conf" />
   <arg name="SIMULATOR_NAME" default="HiroNX(Robot)0" />
diff --git a/hironx_ros_bridge/models/kawada-hironx.dae b/hironx_ros_bridge/models/kawada-hironx.dae
index fb53fa80..4bac62a6 100644
--- a/hironx_ros_bridge/models/kawada-hironx.dae
+++ b/hironx_ros_bridge/models/kawada-hironx.dae
@@ -2858,6 +2858,7 @@ available at http://www.eclipse.org/legal/epl-v10.html
 				<instance_rigid_body body="rigid21" target="#v1.node21"/>
 				<instance_rigid_body body="rigid22" target="#v1.node22"/>
 				<instance_rigid_body body="rigid23" target="#v1.node23"/>
+				<instance_rigid_constraint constraint="rigid_constraint0"/>
 			</instance_physics_model>
 		</physics_scene>
 	</library_physics_scenes>
@@ -3840,6 +3841,10 @@ available at http://www.eclipse.org/legal/epl-v10.html
 					</shape>
 				</technique_common>
 			</rigid_body>
+			<rigid_constraint sid="rigid_constraint0" name="WAIST">
+				<ref_attachment rigid_body="#visual1"/>
+				<attachment rigid_body="#rigid0"/>
+			</rigid_constraint>
 		</physics_model>
 	</library_physics_models>
 	<scene>