There used to be, but I disabled it because if you ran into something, the table would tilt (and stay that way). Why do you need to raise it? I can put that feature back in if needed, or we can change the heights of the loading/unloading stations. The stations are dedicated to either loading or unloading.
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I am having trouble offloading the package due to a tilted table. The table seems to become tilted with using the supplied code to dock with "Loading".
I will see if I can find a collision.
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When is the last time that you updated USARSim? You may need a new USARBot.ini file entry for the unit loader. It should read:
[USARBot.UnitLoader]
bDebug=False
Weight=50
Payload=25
ChassisMass=100.000000
MaxTorque=32000.0
MotorTorque=2400.0
bMountByUU=False
JointParts=(PartName="RightFWheel",PartClass=class'USARModels.UnitLoaderTireRight',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.30,X=0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.UnitLoaderTireLeft',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.30,X=0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="RightRWheel",PartClass=class'USARModels.UnitLoaderTireRight',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.30,X=-0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.UnitLoaderTireLeft',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.30,X=-0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="Light",PartClass=class'USARModels.SpinLight',DrawScale3D=(X=1,Y=1,Z=1),Parent="",JointClass=class'USARBot.KSpinHinge',ParentPos=(Y=0.0,X=0.45,Z=-1.33),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
#MisPkgs=(PkgName="UnitLoaderTop",Location=(Y=0,X=-0.17,Z=-0.15),PkgClass=Class'USARMisPkg.UnitLoaderTop',Orientation=(Y=0,Z=0,X=0))
MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0,X=0.6,Z=-.55),Orientation=(X=0.0,Y=0.5,Z=0.0),PkgClass=Class'USARMisPkg.CameraPanTilt')
Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.875,Y=0.0,Z=0.1),Direction=(Y=0.0,Z=0.0,X=0.0))
#Sensors=(ItemClass=class'USARModels.RFIDPackageScanner',ItemName="reader1",Parent="UnitLoaderTop_Link1",Position=(X=0.43,Y=0.0,Z=-0.25),Direction=(Y=0.0,Z=3.145,X=0.0))
Sensors=(ItemClass=class'USARModels.RFIDPackageScanner',ItemName="reader1",Position=(X=0.26,Y=0.0,Z=-0.4),Direction=(Y=0.0,Z=3.145,X=0.0))
Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner2",Position=(X=-0.79,Y=0.0,Z=0.1),Direction=(Y=0.0,Z=3.145,X=0.0))
Effecters=(ItemClass=class'USARModels.UnitLoaderTableEffecter',ItemName="Roller",Position=(Y=0.0,X=-0.17,Z=-0.15),Direction=(Y=0,Z=0.0,X=0.0))
#Effecters=(ItemClass=class'USARModels.UnitLoaderTableEffecter',ItemName="Roller",Parent="UnitLoaderTop_Link1",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=0,Z=0.0,X=0.0))
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I have version 1.13 with my local edits for the RFID sensor.
This is the current head in CVS. I just did a CVS up for all of USARSim and rebuilt the code.
After watching closely, I see the if the package is not in the center of the roller table, the table will tilt to side where the package is. I have the package about 1.25 roller widths out of center.
Is this the intended action for the table?
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
I am not at my computer right now. Take a look at the code that I sent and see if you table effector is mounted the same as in your code. It may be that I need to check-in my version. Sorry that I can't be of more help.
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
Hi George,
I looked at the .ini file int he repository and on my system. There was no difference in the UnitLoader section. Is your table tilt the result of a collision? If not, we will have to look at how it was mounted. Thanks.
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
It may be that the forum added an extra <CR> or two. Try to reformat the entry so that the newlines make sense. The wheels and other items are included in the file.
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
Is there a way to lift the roller table on the UnitLoader?
Station Unload1 seems to be at a different height then Loading.
There used to be, but I disabled it because if you ran into something, the table would tilt (and stay that way). Why do you need to raise it? I can put that feature back in if needed, or we can change the heights of the loading/unloading stations. The stations are dedicated to either loading or unloading.
I am having trouble offloading the package due to a tilted table. The table seems to become tilted with using the supplied code to dock with "Loading".
I will see if I can find a collision.
When is the last time that you updated USARSim? You may need a new USARBot.ini file entry for the unit loader. It should read:
[USARBot.UnitLoader]
bDebug=False
Weight=50
Payload=25
ChassisMass=100.000000
MaxTorque=32000.0
MotorTorque=2400.0
bMountByUU=False
JointParts=(PartName="RightFWheel",PartClass=class'USARModels.UnitLoaderTireRight',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.30,X=0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.UnitLoaderTireLeft',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.30,X=0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="RightRWheel",PartClass=class'USARModels.UnitLoaderTireRight',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.30,X=-0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.UnitLoaderTireLeft',DrawScale3D=(X=1,Y=1,Z=1),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.30,X=-0.30,Z=0.2),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
JointParts=(PartName="Light",PartClass=class'USARModels.SpinLight',DrawScale3D=(X=1,Y=1,Z=1),Parent="",JointClass=class'USARBot.KSpinHinge',ParentPos=(Y=0.0,X=0.45,Z=-1.33),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
#MisPkgs=(PkgName="UnitLoaderTop",Location=(Y=0,X=-0.17,Z=-0.15),PkgClass=Class'USARMisPkg.UnitLoaderTop',Orientation=(Y=0,Z=0,X=0))
MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0,X=0.6,Z=-.55),Orientation=(X=0.0,Y=0.5,Z=0.0),PkgClass=Class'USARMisPkg.CameraPanTilt')
Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.875,Y=0.0,Z=0.1),Direction=(Y=0.0,Z=0.0,X=0.0))
#Sensors=(ItemClass=class'USARModels.RFIDPackageScanner',ItemName="reader1",Parent="UnitLoaderTop_Link1",Position=(X=0.43,Y=0.0,Z=-0.25),Direction=(Y=0.0,Z=3.145,X=0.0))
Sensors=(ItemClass=class'USARModels.RFIDPackageScanner',ItemName="reader1",Position=(X=0.26,Y=0.0,Z=-0.4),Direction=(Y=0.0,Z=3.145,X=0.0))
Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner2",Position=(X=-0.79,Y=0.0,Z=0.1),Direction=(Y=0.0,Z=3.145,X=0.0))
Effecters=(ItemClass=class'USARModels.UnitLoaderTableEffecter',ItemName="Roller",Position=(Y=0.0,X=-0.17,Z=-0.15),Direction=(Y=0,Z=0.0,X=0.0))
#Effecters=(ItemClass=class'USARModels.UnitLoaderTableEffecter',ItemName="Roller",Parent="UnitLoaderTop_Link1",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=0,Z=0.0,X=0.0))
I have version 1.13 with my local edits for the RFID sensor.
This is the current head in CVS. I just did a CVS up for all of USARSim and rebuilt the code.
After watching closely, I see the if the package is not in the center of the roller table, the table will tilt to side where the package is. I have the package about 1.25 roller widths out of center.
Is this the intended action for the table?
I am not at my computer right now. Take a look at the code that I sent and see if you table effector is mounted the same as in your code. It may be that I need to check-in my version. Sorry that I can't be of more help.
Using your ini file, I get a UnitLoader body with no wheels, table, light, LIDAR, or RFID sensor.
I will look further at the difference.
I did rebuild USARSim to make sure that was not the problem. Still did not work.
Hi George,
I looked at the .ini file int he repository and on my system. There was no difference in the UnitLoader section. Is your table tilt the result of a collision? If not, we will have to look at how it was mounted. Thanks.
It may be that the forum added an extra <CR> or two. Try to reformat the entry so that the newlines make sense. The wheels and other items are included in the file.