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[Personalrobots-commit] SF.net SVN: personalrobots:[1848] pkg/trunk
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From: <hsu...@us...> - 2008-07-21 20:42:11
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Revision: 1848
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=1848&view=rev
Author: hsujohnhsu
Date: 2008-07-21 20:42:17 +0000 (Mon, 21 Jul 2008)
Log Message:
-----------
moving xml files to a better place.
Added Paths:
-----------
pkg/trunk/robot_descriptions/wg_robot_description/
pkg/trunk/robot_descriptions/wg_robot_description/pr2/
pkg/trunk/robot_descriptions/wg_robot_description/pr2/actuators.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/cameras.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
pkg/trunk/robot_descriptions/wg_robot_description/send.xml
Removed Paths:
-------------
pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/actuators.xml
pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/cameras.xml
pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/pr2.xml
pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/send.xml
pkg/trunk/robot_descriptions/wg_robot_description_parser/src/urdf/MathExpression.cpp
Deleted: pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/actuators.xml
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/actuators.xml 2008-07-21 20:36:06 UTC (rev 1847)
+++ pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/actuators.xml 2008-07-21 20:42:17 UTC (rev 1848)
@@ -1,35 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="pr2">
-
- <joint name="joint_shoulder_pan_left">
- <actuator name="actuator_shoulder_pan_left_1">
- <motor>MAXON</motor>
- <ip> IP_ADDRESS </ip>
- <port> 0 </port>
- <reduction>10</reduction>
- <polymap>-1 -0.2 -0.5 </polymap>
- </actuator>
-
- <actuator name="actuator_shoulder_pan_left_2">
- <motor>MAXON</motor>
- <ip> IP_ADDRESS </ip>
- <port> 0 </port>
- <reduction>10</reduction>
- <polymap>1 0.2 0.5 </polymap>
- </actuator>
-
- </joint>
-
-
- <joint name="joint_left_gripper">
- <actuator name="">
- <motor>MAXON</motor>
- <ip> IP_ADDRESS </ip>
- <port> 0 </port>
- <reduction>10</reduction>
- <lookup> gripper_lookup </lookup>
- </actuator>
- </joint>
-
-</robot>
Deleted: pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/cameras.xml
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/cameras.xml 2008-07-21 20:36:06 UTC (rev 1847)
+++ pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/cameras.xml 2008-07-21 20:42:17 UTC (rev 1848)
@@ -1,39 +0,0 @@
-<params>
- <double name="camera_models/videre_left/width"> 640 </double>
- <double name="camera_models/videre_left/height"> 480 </double>
- <double name="camera_models/videre_left/focal_x"> 962.472 </double>
- <double name="camera_models/videre_left/focal_y"> 962.961 </double>
- <double name="camera_models/videre_left/center_x"> 312.410 </double>
- <double name="camera_models/videre_left/center_y"> 242.114 </double>
- <double name="camera_models/videre_left/radial_1"> -0.441686 </double>
- <double name="camera_models/videre_left/radial_2"> 0.302547 </double>
-
- <double name="camera_models/videre_right/width"> 640 </double>
- <double name="camera_models/videre_right/height"> 480 </double>
- <double name="camera_models/videre_right/focal_x"> 947.233 </double>
- <double name="camera_models/videre_right/focal_y"> 946.236 </double>
- <double name="camera_models/videre_right/center_x"> 337.313 </double>
- <double name="camera_models/videre_right/center_y"> 223.764 </double>
- <double name="camera_models/videre_right/radial_1"> -0.419809 </double>
- <double name="camera_models/videre_right/radial_2"> 0.246824 </double>
-
- <double name="camera_models/videre_stereo/translation_x"> .0606940 </double>
- <double name="camera_models/videre_stereo/translation_y"> -.000401150 </double>
- <double name="camera_models/videre_stereo/translation_z"> -.00225697 </double>
-
- <double name="camera_models/videre_stereo/rotation_0_0"> 0.999802 </double>
- <double name="camera_models/videre_stereo/rotation_1_0"> -0.000745101 </double>
- <double name="camera_models/videre_stereo/rotation_2_0"> 0.0198657 </double>
-
- <double name="camera_models/videre_stereo/rotation_0_1"> 0.000869400 </double>
- <double name="camera_models/videre_stereo/rotation_1_1"> 0.999980 </double>
- <double name="camera_models/videre_stereo/rotation_2_1"> -0.00624909 </double>
-
- <double name="camera_models/videre_stereo/rotation_0_2"> -0.0198607 </double>
- <double name="camera_models/videre_stereo/rotation_1_2"> 0.00626513 </double>
- <double name="camera_models/videre_stereo/rotation_2_2"> 0.999783 </double>
-
- <string name="camera_models/videre_stereo/left_cam"> videre_left </string>
- <string name="camera_models/videre_stereo/right_cam"> videre_right </string>
-</params>
-
Deleted: pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/pr2.xml
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/pr2.xml 2008-07-21 20:36:06 UTC (rev 1847)
+++ pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/pr2.xml 2008-07-21 20:42:17 UTC (rev 1848)
@@ -1,872 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="pr2"><!-- name of the robot-->
-
-<!-- Begin template definitions for ease of reuse -->
-
-
-<!-- Begin constant dimensions -->
- <constants>
-
- <wheel_length>0.03</wheel_length>
- <wheel_radius>0.08</wheel_radius>
-
- <shoulder_pan_length>0.60</shoulder_pan_length>
- <shoulder_pan_radius>0.13</shoulder_pan_radius>
-
- <shoulder_pitch_length>0.10</shoulder_pitch_length>
- <shoulder_pitch_radius>0.12</shoulder_pitch_radius>
-
- <shoulder_roll_x>0.35</shoulder_roll_x>
- <shoulder_roll_y>0.12</shoulder_roll_y>
- <shoulder_roll_z>0.15</shoulder_roll_z>
-
- <elbow_pitch_length>0.08</elbow_pitch_length>
- <elbow_pitch_radius>0.1</elbow_pitch_radius>
-
- <forearm_roll_x>0.27</forearm_roll_x>
- <forearm_roll_y>0.12</forearm_roll_y>
- <forearm_roll_z>0.08</forearm_roll_z>
-
- <wrist_pitch_length>0.031</wrist_pitch_length>
- <wrist_pitch_radius>0.1</wrist_pitch_radius>
-
- <wrist_roll_x>0.11</wrist_roll_x>
- <wrist_roll_y>0.10</wrist_roll_y>
- <wrist_roll_z>0.05</wrist_roll_z>
-
- <base_length>0.5</base_length>
- <base_width>0.5</base_width>
- <base_height>0.1</base_height>
-
- <wheel_clearance_offset>0.02</wheel_clearance_offset> <!-- wheel clearance from bottom of base to ground-->
-
- <torso_length>0.3</torso_length>
- <torso_width>0.05</torso_width>
- <torso_height>0.8</torso_height>
-
- <head_pan_length>0.1</head_pan_length>
- <head_pan_radius>0.5</head_pan_radius>
-
- <head_tilt_length>0.25</head_tilt_length>
- <head_tilt_width>0.1</head_tilt_width>
- <head_tilt_height>0.15</head_tilt_height>
-
- <base_torso_offset_x>-0.05</base_torso_offset_x>
- <base_torso_offset_y>0.0</base_torso_offset_y>
- <base_torso_offset_z>0.30981</base_torso_offset_z>
-
- <torso_head_pan_offset_x>-0.1829361-base_torso_offset_x</torso_head_pan_offset_x>
- <torso_head_pan_offset_y>0</torso_head_pan_offset_y>
- <torso_head_pan_offset_z>0.80981-base_torso_offset_z</torso_head_pan_offset_z>
- </constants>
-<!-- End constant dimensions -->
-
- <templates>
- <define template="pr2_caster_visual">
- <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="mesh" name="pr2_caster_mesh_file">
- <filename>{ROS_PKG}/demos/2dnav-gazebo/world/Media/models/pr2_caster.mesh</filename><!-- mesh specified using an obj file -->
- </geometry>
- </define>
-
- <define template="pr2_caster_collision">
- <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box"><!-- geometry specified using a simple geometric object -->
- <size>0.1 0.08 0.1</size>
- </geometry>
- </define>
-
- <define template="pr2_caster_inertial">
- <mass> 3.473082 </mass>
- <com> 0.007342 0.00015 0.095236 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.012411765597 -0.000711733678 0.00050272983 0.015218160428 -0.000004273467 0.011763977943 </inertia>
- </define>
-
-
- <define template="pr2_caster_joint" type="revolute">
- <axis> 0 0 1 </axis> <!-- direction of the joint in the local coordinate frame -->
- <anchor>0 0 0</anchor> <!-- point on the joint relative to the local coordinate frame -->
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_wheel_visual">
- <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>M_PI/2 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="cylinder"><!-- geometry specified using a simple geometric object -->
- <size>wheel_radius wheel_length</size>
- </geometry>
- </define>
-
- <define template="pr2_wheel_inertial">
- <mass> 0.44036 </mass>
- <com> 0.000008 0.000008 0.008475 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.012411765597 -0.000711733678 0.00050272983 0.015218160428 -0.000004273467 0.011763977943 </inertia>
- </define>
-
- <define template="pr2_wheel_joint" type="revolute">
- <axis> 0 1 0 </axis> <!-- direction of the joint in the local coordinate frame -->
- <anchor>0 0 0</anchor> <!-- point on the joint relative to the local coordinate frame -->
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_shoulder_pan_joint" type="revolute">
- <axis> 0 0 1 </axis> <!-- direction of the joint in a global coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <limit> -M_PI/2 M_PI/2 </limit>
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_shoulder_pan_inertial">
- <mass> 16.29553 </mass>
- <com> -0.005215 -0.030552 -0.175743 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia>0.793291393007 0.003412032973 0.0096614481 0.818419457224 -0.033999499551 0.13915007406 </inertia>
- </define>
-
- <define template="pr2_shoulder_pan_visual">
- <xyz>0 0 shoulder_pan_length/2 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0 0 0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="cylinder">
- <size> shoulder_pan_radius shoulder_pan_length</size>
- </geometry>
- </define>
-
- <define template="pr2_shoulder_pitch_joint" type="revolute">
- <axis> 0 1 0 </axis> <!-- direction of the joint in a global coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <limit> -0.6109 1.3090 </limit>
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_shoulder_pitch_inertial">
- <mass> 2.41223 </mass>
- <com> -0.035895 0.014422 -0.028263</com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.016640333585 0.002696462583 0.001337742275 0.017232603914 -0.003605106514 0.018723553425</inertia>
- </define>
-
- <define template="pr2_shoulder_pitch_visual">
- <xyz>shoulder_pitch_length/2 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>M_PI/2 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="cylinder">
- <size> shoulder_pitch_radius shoulder_pitch_length </size>
- </geometry>
- </define>
-
- <define template="pr2_shoulder_roll_joint" type="revolute">
- <axis> 1 0 0 </axis> <!-- direction of the joint in a global coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <limit> -2.3562 2.3562 </limit>
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_shoulder_roll_inertial">
- <mass> 4.9481 </mass>
- <com> 0.001205 -0.016293 0.21227 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.073060715309 0.000547745916 0.000119476885 0.072124510748 0.001544932307 0.013383284908</inertia>
- </define>
-
- <define template="pr2_shoulder_roll_visual">
- <xyz>shoulder_roll_x/2 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size> shoulder_roll_x shoulder_roll_y shoulder_roll_z </size>
- </geometry>
- </define>
-
- <define template="pr2_elbow_pitch_joint" type="revolute">
- <axis> 0 1 0 </axis> <!-- direction of the joint in a global coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <limit> -M_PI/2 0.8727 </limit>
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_elbow_pitch_inertial">
- <mass> 1.689246 </mass>
- <com> -0.011638 0.013173 0.001228 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.003275298548 0.000292046674 -0.000077359282 0.003236815206 -0.000001162155 0.00410053774 </inertia>
- </define>
-
- <define template="pr2_elbow_pitch_visual">
- <xyz>elbow_pitch_length/2 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="cylinder">
- <size>elbow_pitch_radius elbow_pitch_length </size>
- </geometry>
- </define>
-
- <define template="pr2_forearm_roll_joint" type="revolute">
- <axis> 1 0 0 </axis> <!-- direction of the joint in a global coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_forearm_roll_inertial">
- <mass> 1.804155 </mass>
- <com> -0.000058 0.013779 0.179474 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.012430552544 -0.000003671102 0.000029379389 0.013567548848 -0.000427679042 0.001755089866 </inertia>
- </define>
-
- <define template="pr2_forearm_roll_visual">
- <xyz>forearm_roll_x/2 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size>forearm_roll_x forearm_roll_y forearm_roll_z </size>
- </geometry>
- </define>
-
- <define template="pr2_wrist_pitch_joint" type="revolute">
- <axis> 0 1 0 </axis> <!-- direction of the joint in a global coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_wrist_pitch_inertial">
- <mass> 1.804155 </mass>
- <com> -0.000058 0.013779 0.179474 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.012430552544 -0.000003671102 0.000029379389 0.013567548848 -0.000427679042 0.001755089866 </inertia>
- </define>
-
- <define template="pr2_wrist_pitch_visual">
- <xyz>0 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="cylinder">
- <size>wrist_pitch_radius wrist_pitch_length</size>
- </geometry>
- </define>
-
-
- <define template="pr2_wrist_roll_joint" type="revolute">
- <axis> 0 1 0 </axis> <!-- direction of the joint in a global coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
- </define>
-
- <define template="pr2_wrist_roll_inertial">
- <mass> 1.804155 </mass>
- <com> -0.000058 0.013779 0.179474 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 0.012430552544 -0.000003671102 0.000029379389 0.013567548848 -0.000427679042 0.001755089866 </inertia>
- </define>
-
- <define template="pr2_wrist_roll_visual">
- <xyz>0 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size>wrist_roll_x wrist_roll_y wrist_roll_z </size>
- </geometry>
- </define>
- </templates>
-<!-- End template definitions for ease of reuse -->
-
-
-<!-- Begin base definition -->
-
- <link name="base"><!-- link specifying the base of the robot -->
-
- <parent> world</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to a global coordinate frame -->
- <xyz> 0 0 wheel_clearance_offset</xyz> <!-- position of a local coordinate frame attached to the link with respect to the parent link's coordinate frame -->
-
- <joint type="floating" name="joint_base">
- <anchor>0.25 0.1 0.3 </anchor> <!-- Initial position of the base in a global coordinate frame -->
- </joint>
-
- <inertial>
- <mass> 70.750964 </mass>
- <com> -0.061523 0.000942 0.293569 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia>5.652232699207 -0.009719934438 1.293988226423 5.669473158652 -0.007379583694 3.683196351726 </inertia>
- </inertial>
-
- <visual>
- <xyz>0 0 base_height/2</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size>base_length base_width base_height</size>
- </geometry>
- </visual>
-
- <collision>
- <xyz>0 0 base_height/2</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size>base_length base_width base_height</size>
- </geometry>
- </collision>
-
- </link>
-
- <link name="caster_front_left">
- <parent> base</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.2255 0.2255 0.08069 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
- <joint clone="pr2_caster_joint"/>
- <inertial clone="pr2_caster_inertial"/>
- <visual clone="pr2_caster_visual"/>
- <collision clone="pr2_caster_collision"/>
- </link>
-
-
- <link name="caster_front_right">
- <parent> base</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.2255 -0.2255 0.08069 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_caster_joint"/>
- <inertial clone="pr2_caster_inertial"/>
- <visual clone="pr2_caster_visual"/>
- <collision clone="pr2_caster_collision"/>
- </link>
-
- <link name="caster_rear_left">
- <parent> base</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> -0.2255 0.2255 0.08069 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_caster_joint"/>
- <inertial clone="pr2_caster_inertial"/>
- <visual clone="pr2_caster_visual"/>
- <collision clone="pr2_caster_collision"/>
- </link>
-
- <link name="caster_rear_right">
- <parent> base</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> -0.2255 -0.2255 0.08069 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_caster_joint"/>
- <inertial clone="pr2_caster_inertial"/>
- <visual clone="pr2_caster_visual"/>
- <collision clone="pr2_caster_collision"/>
- </link>
-
- <link name="wheel_front_left_l">
- <parent> caster_front_left</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
- <link name="wheel_front_left_r">
- <parent> caster_front_left</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 -0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
- <link name="wheel_front_right_l">
- <parent> caster_front_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
-
- <link name="wheel_front_right_r">
- <parent> caster_front_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 -0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
- <link name="wheel_rear_left_l">
- <parent> caster_rear_left</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
- <link name="wheel_rear_left_r">
- <parent> caster_rear_left</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 -0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
- <link name="wheel_rear_right_l">
- <parent> caster_rear_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
- <link name="wheel_rear_right_r">
- <parent> caster_rear_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 -0.049 0 </xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wheel_joint"/>
- <inertial clone="pr2_wheel_inertial"/>
- <visual clone="pr2_wheel_visual"/>
- <collision clone="pr2_wheel_visual"/>
- </link>
-
-<!-- End base definition -->
-
-
-<!-- Begin torso definition -->
-
- <link name="torso">
- <parent> base </parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> base_torso_offset_x base_torso_offset_y base_torso_offset_z</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint type="prismatic">
- <axis> 0 0 1 </axis> <!-- direction of the joint in a local coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <limit> -0.030 0.396 </limit>
- </joint>
-
- <inertial>
- <mass> 36.248046 </mass>
- <com> -0.085285 -0.002393 -0.149724 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia> 2.771653750257 0.004284522609 -0.160418504506 2.510019507959 0.029664468704 0.526432355569</inertia>
- </inertial>
-
- <visual>
- <xyz>0.0 0.0 0.0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size> torso_length torso_width torso_height </size>
- </geometry>
- </visual>
-
- <collision>
- <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size> torso_length torso_width torso_height </size>
- </geometry>
- </collision>
- </link>
-
-<!-- End torso definition -->
-
-
-
-<!-- Begin arm definitions -->
-
-
- <link name="shoulder_pan_left"><!-- link specifying the shoulder of the robot -->
- <parent> torso</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0.1329361 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_shoulder_pan_joint" name="joint_shoulder_pan_left"/>
- <inertial clone="pr2_shoulder_pan_inertial"/>
- <visual clone="pr2_shoulder_pan_visual"/>
- <collision clone="pr2_shoulder_pan_visual"/>
- </link>
-
- <link name="shoulder_pan_right"><!-- link specifying the shoulder of the robot -->
- <parent> torso</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 -0.1329361 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_shoulder_pan_joint"/>
- <inertial clone="pr2_shoulder_pan_inertial"/>
- <visual clone="pr2_shoulder_pan_visual"/>
- <collision clone="pr2_shoulder_pan_visual"/>
- </link>
-
-
-
-
-
-
- <link name="shoulder_pitch_left"><!-- link specifying the shoulder of the robot -->
- <parent> shoulder_pan_left</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> .1 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_shoulder_pitch_joint"/>
- <inertial clone="pr2_shoulder_pitch_inertial"/>
- <visual clone="pr2_shoulder_pitch_visual"/>
- <collision clone="pr2_shoulder_pitch_visual"/>
- </link>
-
- <link name="shoulder_pitch_right"><!-- link specifying the shoulder of the robot -->
- <parent> shoulder_pan_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> .1 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_shoulder_pitch_joint"/>
- <inertial clone="pr2_shoulder_pitch_inertial"/>
- <visual clone="pr2_shoulder_pitch_visual"/>
- <collision clone="pr2_shoulder_pitch_visual"/>
- </link>
-
-
-
-
- <link name="shoulder_roll_left"><!-- link specifying the shoulder of the robot -->
- <parent> shoulder_pitch_left</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_shoulder_roll_joint"/>
- <inertial clone="pr2_shoulder_roll_inertial"/>
- <visual clone="pr2_shoulder_roll_visual"/>
- <collision clone="pr2_shoulder_roll_visual"/>
- </link>
-
- <link name="shoulder_roll_right"><!-- link specifying the shoulder of the robot -->
- <parent> shoulder_pitch_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_shoulder_roll_joint"/>
- <inertial clone="pr2_shoulder_roll_inertial"/>
- <visual clone="pr2_shoulder_roll_visual"/>
- <collision clone="pr2_shoulder_roll_visual"/>
- </link>
-
-
-
- <link name="elbow_pitch_left"><!-- link specifying the shoulder of the robot -->
- <parent> shoulder_roll_left</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.4 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_elbow_pitch_joint"/>
- <inertial clone="pr2_elbow_pitch_inertial"/>
- <visual clone="pr2_elbow_pitch_visual"/>
- <collision clone="pr2_elbow_pitch_visual"/>
- </link>
-
- <link name="elbow_pitch_right"><!-- link specifying the shoulder of the robot -->
- <parent> shoulder_roll_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.4 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_elbow_pitch_joint"/>
- <inertial clone="pr2_elbow_pitch_inertial"/>
- <visual clone="pr2_elbow_pitch_visual"/>
- <collision clone="pr2_elbow_pitch_visual"/>
- </link>
-
-
-
-
- <link name="forearm_roll_left"><!-- link specifying the shoulder of the robot -->
- <parent> elbow_pitch_left</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.09085 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_forearm_roll_joint"/>
- <inertial clone="pr2_forearm_roll_inertial"/>
- <visual clone="pr2_forearm_roll_visual"/>
- <collision clone="pr2_forearm_roll_visual"/>
- </link>
-
- <link name="forearm_roll_right"><!-- link specifying the shoulder of the robot -->
- <parent> elbow_pitch_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.09085 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_forearm_roll_joint"/>
- <inertial clone="pr2_forearm_roll_inertial"/>
- <visual clone="pr2_forearm_roll_visual"/>
- <collision clone="pr2_forearm_roll_visual"/>
- </link>
-
-
-
-
- <link name="wrist_pitch_left"><!-- link specifying the shoulder of the robot -->
- <parent> forearm_roll_left</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.2237 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wrist_pitch_joint"/>
- <inertial clone="pr2_wrist_pitch_inertial"/>
- <visual clone="pr2_wrist_pitch_visual"/>
- <collision clone="pr2_wrist_pitch_visual"/>
- </link>
-
- <link name="wrist_pitch_right"><!-- link specifying the shoulder of the robot -->
- <parent> forearm_roll_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0.2237 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wrist_pitch_joint"/>
- <inertial clone="pr2_wrist_pitch_inertial"/>
- <visual clone="pr2_wrist_pitch_visual"/>
- <collision clone="pr2_wrist_pitch_visual"/>
- </link>
-
-
-
- <link name="wrist_roll_left"><!-- link specifying the shoulder of the robot -->
- <parent> wrist_pitch_left</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wrist_roll_joint"/>
- <inertial clone="pr2_wrist_roll_inertial"/>
- <visual clone="pr2_wrist_roll_visual"/>
- <collision clone="pr2_wrist_roll_visual"/>
- </link>
-
- <link name="wrist_roll_right"><!-- link specifying the shoulder of the robot -->
- <parent> wrist_pitch_right</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
- <joint clone="pr2_wrist_roll_joint"/>
- <inertial clone="pr2_wrist_roll_inertial"/>
- <visual clone="pr2_wrist_roll_visual"/>
- <collision clone="pr2_wrist_roll_visual"/>
- </link>
-
-<!-- End arm definitions -->
-
-
-<!-- Begin head definition -->
-
-
- <link name="head_pan"><!-- link specifying the shoulder of the robot -->
- <parent>torso</parent>
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0 torso_head_pan_offset_z+head_pan_length/2</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
-
- <joint type="revolute">
- <axis> 0 0 1 </axis> <!-- direction of the joint in a local coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <limit> -2.9322 2.9322 </limit>
- </joint>
-
- <inertial>
- <mass> 1.611118 </mass>
- <com> -0.005717 0.010312 -0.029649 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia>0.00482611007 -0.000144683999 0.000110076136 0.005218991412 -0.000314239509 0.008618784925 </inertia>
- </inertial>
-
- <visual>
- <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0 0 0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="cylinder">
- <size>head_pan_radius head_pan_length </size>
- </geometry>
- </visual>
-
- <collision>
- <xyz> 0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="cylinder">
- <size>head_pan_radius head_pan_length </size>
- </geometry>
- </collision>
-
- </link>
-
- <link name="head_tilt"><!-- link specifying the shoulder of the robot -->
- <parent> head_pan</parent>
-
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the link with respect to the parent's frame -->
- <xyz> 0 0 0</xyz> <!-- position of a local coordinate frame attached to the link with respect to parent's frame-->
-
-
- <joint type="revolute">
- <axis> 0 1 0 </axis> <!-- direction of the joint in a local coordinate frame -->
- <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
- <limit> -M_PI/6 M_PI/3 </limit>
- </joint>
-
- <inertial>
- <mass>1.749727 </mass>
- <com> 0.041935 0.003569 0.028143 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
- <inertia>0.010602303435 -0.000408814235 0.00198303894 0.011874383747 0.000197908779 0.005516790626</inertia>
- </inertial>
-
- <visual>
- <xyz>0 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size>head_tilt_length head_tilt_width head_tilt_height</size>
- </geometry>
- </visual>
-
- <collision>
- <xyz>0 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box">
- <size>head_tilt_length head_tilt_width head_tilt_height</size>
- </geometry>
- </collision>
- </link>
-
-<!-- End head definition -->
-
-
-
-<!-- Begin sensor definitions -->
-
- <sensor name="left_forearm_camera" type="camera">
-
- <calibration> calib_filename </calibration>
- <parent>forearm_roll_left</parent>
- <xyz> 10 1 10 </xyz> <!-- position of a local coordinate frame attached to the sensor with respect to the parent link's coordinate frame -->
- <rpy> 0 0 0 </rpy> <!-- rotation of a local coordinate frame attached to the sensor with respect to the parent link's coordinate frame -->
- <inertial>
- <mass> 10.0 </mass>
- <com> 0.5 0.1 2 </com> <!-- position of the center of mass with respect to the sensor's local coordinate frame -->
- <inertia>0 0 0 0 0 0 </inertia>
- </inertial>
- <visual>
- <xyz>0 0 0 </xyz> <!-- location defined with respect to the link origin in the sensor's local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box" name="visual_left_forearm_camera"><!-- geometry specified using a simple geometric object -->
- <size>1 1 1</size>
- </geometry>
-
- <geometry type="mesh" name="visual_left_forearm_camera">
- <filename>visual_left_forearm_camera</filename><!-- mesh specified using an obj file -->
- </geometry>
- </visual>
- <collision>
- <xyz>0 0 0 </xyz> <!-- location defined with respect to the link origin in the sensor's local coordinate frame -->
- <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
- <material>Gazebo/Grey</material>
- <geometry type="box" name="collision_left_forearm_camera"><!-- geometry specified using a simple geometric object -->
- <size>1 1 1</size>
- </geometry>
-
- <geometry type="mesh" name="collision_left_forearm_camera">
- <filename>visual_left_forearm_camera</filename><!-- mesh specified using an obj file -->
- </geometry>
- </collision>
- </sensor>
-
-<!-- End sensor definitions -->
-
-<!-- Include actuators definition -->
-
- <include>actuators.xml</include>
-
- <!-- Define groups of links; a link may be part of multiple groups -->
- <group name="wheels" flags="some flag">
- wheel_front_left_l
- wheel_front_left_r
- wheel_front_right_l
- wheel_front_right_r
- wheel_rear_left_l
- wheel_rear_left_r
- wheel_rear_right_l
- wheel_rear_right_r
- </group>
-
- <group name="leftArm">
- shoulder_pan_left
- shoulder_pitch_left
- shoulder_roll_left
- elbow_pitch_left
- forearm_roll_left
- wrist_pitch_left
- wrist_roll_left
- </group>
-
- <group name="rightArm">
- shoulder_pan_right
- shoulder_pitch_right
- shoulder_roll_right
- elbow_pitch_right
- forearm_roll_right
- wrist_pitch_right
- wrist_roll_right
- </group>
-
- <group name="arms">
- shoulder_pan_left
- shoulder_pitch_left
- shoulder_roll_left
- elbow_pitch_left
- forearm_roll_left
- wrist_pitch_left
- wrist_roll_left
- shoulder_pan_right
- shoulder_pitch_right
- shoulder_roll_right
- elbow_pitch_right
- forearm_roll_right
- wrist_pitch_right
- wrist_roll_right
- </group>
-
- <group name="head">
- head_pan
- head_tilt
- </group>
-
-
- <data type="controller" name="test">
- <pGain> 1 </pGain>
- </data>
-
-</robot>
Deleted: pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/send.xml
===================================================================
--- pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/send.xml 2008-07-21 20:36:06 UTC (rev 1847)
+++ pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/send.xml 2008-07-21 20:42:17 UTC (rev 1848)
@@ -1,7 +0,0 @@
-<launch>
-
- <!-- <param name="robotdesc/pr2" textfile="$(find robot_desc_files)/pr2.xml" collapse="yes" /> -->
-
- <param name="robotdesc/pr2" textfile="/u/isucan/ros/ros-pkg/drivers/robot/pr2/pr2Core/include/pr2Core/pr2.xml" />
-
-</launch>
Copied: pkg/trunk/robot_descriptions/wg_robot_description/pr2/actuators.xml (from rev 1846, pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/actuators.xml)
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/actuators.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/actuators.xml 2008-07-21 20:42:17 UTC (rev 1848)
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+
+<robot name="pr2">
+
+ <joint name="joint_shoulder_pan_left">
+ <actuator name="actuator_shoulder_pan_left_1">
+ <motor>MAXON</motor>
+ <ip> IP_ADDRESS </ip>
+ <port> 0 </port>
+ <reduction>10</reduction>
+ <polymap>-1 -0.2 -0.5 </polymap>
+ </actuator>
+
+ <actuator name="actuator_shoulder_pan_left_2">
+ <motor>MAXON</motor>
+ <ip> IP_ADDRESS </ip>
+ <port> 0 </port>
+ <reduction>10</reduction>
+ <polymap>1 0.2 0.5 </polymap>
+ </actuator>
+
+ </joint>
+
+
+ <joint name="joint_left_gripper">
+ <actuator name="">
+ <motor>MAXON</motor>
+ <ip> IP_ADDRESS </ip>
+ <port> 0 </port>
+ <reduction>10</reduction>
+ <lookup> gripper_lookup </lookup>
+ </actuator>
+ </joint>
+
+</robot>
Copied: pkg/trunk/robot_descriptions/wg_robot_description/pr2/cameras.xml (from rev 1846, pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/cameras.xml)
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/cameras.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/cameras.xml 2008-07-21 20:42:17 UTC (rev 1848)
@@ -0,0 +1,39 @@
+<params>
+ <double name="camera_models/videre_left/width"> 640 </double>
+ <double name="camera_models/videre_left/height"> 480 </double>
+ <double name="camera_models/videre_left/focal_x"> 962.472 </double>
+ <double name="camera_models/videre_left/focal_y"> 962.961 </double>
+ <double name="camera_models/videre_left/center_x"> 312.410 </double>
+ <double name="camera_models/videre_left/center_y"> 242.114 </double>
+ <double name="camera_models/videre_left/radial_1"> -0.441686 </double>
+ <double name="camera_models/videre_left/radial_2"> 0.302547 </double>
+
+ <double name="camera_models/videre_right/width"> 640 </double>
+ <double name="camera_models/videre_right/height"> 480 </double>
+ <double name="camera_models/videre_right/focal_x"> 947.233 </double>
+ <double name="camera_models/videre_right/focal_y"> 946.236 </double>
+ <double name="camera_models/videre_right/center_x"> 337.313 </double>
+ <double name="camera_models/videre_right/center_y"> 223.764 </double>
+ <double name="camera_models/videre_right/radial_1"> -0.419809 </double>
+ <double name="camera_models/videre_right/radial_2"> 0.246824 </double>
+
+ <double name="camera_models/videre_stereo/translation_x"> .0606940 </double>
+ <double name="camera_models/videre_stereo/translation_y"> -.000401150 </double>
+ <double name="camera_models/videre_stereo/translation_z"> -.00225697 </double>
+
+ <double name="camera_models/videre_stereo/rotation_0_0"> 0.999802 </double>
+ <double name="camera_models/videre_stereo/rotation_1_0"> -0.000745101 </double>
+ <double name="camera_models/videre_stereo/rotation_2_0"> 0.0198657 </double>
+
+ <double name="camera_models/videre_stereo/rotation_0_1"> 0.000869400 </double>
+ <double name="camera_models/videre_stereo/rotation_1_1"> 0.999980 </double>
+ <double name="camera_models/videre_stereo/rotation_2_1"> -0.00624909 </double>
+
+ <double name="camera_models/videre_stereo/rotation_0_2"> -0.0198607 </double>
+ <double name="camera_models/videre_stereo/rotation_1_2"> 0.00626513 </double>
+ <double name="camera_models/videre_stereo/rotation_2_2"> 0.999783 </double>
+
+ <string name="camera_models/videre_stereo/left_cam"> videre_left </string>
+ <string name="camera_models/videre_stereo/right_cam"> videre_right </string>
+</params>
+
Copied: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml (from rev 1846, pkg/trunk/drivers/robot/pr2/pr2Core/include/pr2Core/pr2.xml)
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml 2008-07-21 20:42:17 UTC (rev 1848)
@@ -0,0 +1,872 @@
+<?xml version="1.0"?>
+
+<robot name="pr2"><!-- name of the robot-->
+
+<!-- Begin template definitions for ease of reuse -->
+
+
+<!-- Begin constant dimensions -->
+ <constants>
+
+ <wheel_length>0.03</wheel_length>
+ <wheel_radius>0.08</wheel_radius>
+
+ <shoulder_pan_length>0.60</shoulder_pan_length>
+ <shoulder_pan_radius>0.13</shoulder_pan_radius>
+
+ <shoulder_pitch_length>0.10</shoulder_pitch_length>
+ <shoulder_pitch_radius>0.12</shoulder_pitch_radius>
+
+ <shoulder_roll_x>0.35</shoulder_roll_x>
+ <shoulder_roll_y>0.12</shoulder_roll_y>
+ <shoulder_roll_z>0.15</shoulder_roll_z>
+
+ <elbow_pitch_length>0.08</elbow_pitch_length>
+ <elbow_pitch_radius>0.1</elbow_pitch_radius>
+
+ <forearm_roll_x>0.27</forearm_roll_x>
+ <forearm_roll_y>0.12</forearm_roll_y>
+ <forearm_roll_z>0.08</forearm_roll_z>
+
+ <wrist_pitch_length>0.031</wrist_pitch_length>
+ <wrist_pitch_radius>0.1</wrist_pitch_radius>
+
+ <wrist_roll_x>0.11</wrist_roll_x>
+ <wrist_roll_y>0.10</wrist_roll_y>
+ <wrist_roll_z>0.05</wrist_roll_z>
+
+ <base_length>0.5</base_length>
+ <base_width>0.5</base_width>
+ <base_height>0.1</base_height>
+
+ <wheel_clearance_offset>0.02</wheel_clearance_offset> <!-- wheel clearance from bottom of base to ground-->
+
+ <torso_length>0.3</torso_length>
+ <torso_width>0.05</torso_width>
+ <torso_height>0.8</torso_height>
+
+ <head_pan_length>0.1</head_pan_length>
+ <head_pan_radius>0.5</head_pan_radius>
+
+ <head_tilt_length>0.25</head_tilt_length>
+ <head_tilt_width>0.1</head_tilt_width>
+ <head_tilt_height>0.15</head_tilt_height>
+
+ <base_torso_offset_x>-0.05</base_torso_offset_x>
+ <base_torso_offset_y>0.0</base_torso_offset_y>
+ <base_torso_offset_z>0.30981</base_torso_offset_z>
+
+ <torso_head_pan_offset_x>-0.1829361-base_torso_offset_x</torso_head_pan_offset_x>
+ <torso_head_pan_offset_y>0</torso_head_pan_offset_y>
+ <torso_head_pan_offset_z>0.80981-base_torso_offset_z</torso_head_pan_offset_z>
+ </constants>
+<!-- End constant dimensions -->
+
+ <templates>
+ <define template="pr2_caster_visual">
+ <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <material>Gazebo/Grey</material>
+ <geometry type="mesh" name="pr2_caster_mesh_file">
+ <filename>{ROS_PKG}/demos/2dnav-gazebo/world/Media/models/pr2_caster.mesh</filename><!-- mesh specified using an obj file -->
+ </geometry>
+ </define>
+
+ <define template="pr2_caster_collision">
+ <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <material>Gazebo/Grey</material>
+ <geometry type="box"><!-- geometry specified using a simple geometric object -->
+ <size>0.1 0.08 0.1</size>
+ </geometry>
+ </define>
+
+ <define template="pr2_caster_inertial">
+ <mass> 3.473082 </mass>
+ <com> 0.007342 0.00015 0.095236 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia> 0.012411765597 -0.000711733678 0.00050272983 0.015218160428 -0.000004273467 0.011763977943 </inertia>
+ </define>
+
+
+ <define template="pr2_caster_joint" type="revolute">
+ <axis> 0 0 1 </axis> <!-- direction of the joint in the local coordinate frame -->
+ <anchor>0 0 0</anchor> <!-- point on the joint relative to the local coordinate frame -->
+ <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
+ </define>
+
+ <define template="pr2_wheel_visual">
+ <xyz>0 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <rpy>M_PI/2 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <material>Gazebo/Grey</material>
+ <geometry type="cylinder"><!-- geometry specified using a simple geometric object -->
+ <size>wheel_radius wheel_length</size>
+ </geometry>
+ </define>
+
+ <define template="pr2_wheel_inertial">
+ <mass> 0.44036 </mass>
+ <com> 0.000008 0.000008 0.008475 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia> 0.012411765597 -0.000711733678 0.00050272983 0.015218160428 -0.000004273467 0.011763977943 </inertia>
+ </define>
+
+ <define template="pr2_wheel_joint" type="revolute">
+ <axis> 0 1 0 </axis> <!-- direction of the joint in the local coordinate frame -->
+ <anchor>0 0 0</anchor> <!-- point on the joint relative to the local coordinate frame -->
+ <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
+ </define>
+
+ <define template="pr2_shoulder_pan_joint" type="revolute">
+ <axis> 0 0 1 </axis> <!-- direction of the joint in a global coordinate frame -->
+ <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit> -M_PI/2 M_PI/2 </limit>
+ <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
+ </define>
+
+ <define template="pr2_shoulder_pan_inertial">
+ <mass> 16.29553 </mass>
+ <com> -0.005215 -0.030552 -0.175743 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia>0.793291393007 0.003412032973 0.0096614481 0.818419457224 -0.033999499551 0.13915007406 </inertia>
+ </define>
+
+ <define template="pr2_shoulder_pan_visual">
+ <xyz>0 0 shoulder_pan_length/2 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <rpy>0 0 0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <material>Gazebo/Grey</material>
+ <geometry type="cylinder">
+ <size> shoulder_pan_radius shoulder_pan_length</size>
+ </geometry>
+ </define>
+
+ <define template="pr2_shoulder_pitch_joint" type="revolute">
+ <axis> 0 1 0 </axis> <!-- direction of the joint in a global coordinate frame -->
+ <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit> -0.6109 1.3090 </limit>
+ <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
+ </define>
+
+ <define template="pr2_shoulder_pitch_inertial">
+ <mass> 2.41223 </mass>
+ <com> -0.035895 0.014422 -0.028263</com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia> 0.016640333585 0.002696462583 0.001337742275 0.017232603914 -0.003605106514 0.018723553425</inertia>
+ </define>
+
+ <define template="pr2_shoulder_pitch_visual">
+ <xyz>shoulder_pitch_length/2 0 0 </xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <rpy>M_PI/2 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <material>Gazebo/Grey</material>
+ <geometry type="cylinder">
+ <size> shoulder_pitch_radius shoulder_pitch_length </size>
+ </geometry>
+ </define>
+
+ <define template="pr2_shoulder_roll_joint" type="revolute">
+ <axis> 1 0 0 </axis> <!-- direction of the joint in a global coordinate frame -->
+ <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit> -2.3562 2.3562 </limit>
+ <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
+ </define>
+
+ <define template="pr2_shoulder_roll_inertial">
+ <mass> 4.9481 </mass>
+ <com> 0.001205 -0.016293 0.21227 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia> 0.073060715309 0.000547745916 0.000119476885 0.072124510748 0.001544932307 0.013383284908</inertia>
+ </define>
+
+ <define template="pr2_shoulder_roll_visual">
+ <xyz>shoulder_roll_x/2 0 0</xyz> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <rpy>0.0 0.0 0.0 </rpy> <!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
+ <material>Gazebo/Grey</material>
+ <geometry type="box">
+ <size> shoulder_roll_x shoulder_roll_y shoulder_roll_z </size>
+ </geometry>
+ </define>
+
+ <define template="pr2_elbow_pitch_joint" type="revolute">
+ <axis> 0 1 0 </axis> <!-- direction of the joint in a global coordinate frame -->
+ <anchor>0 0 0 </anchor> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit> -M_PI/2 0.8727 </limit>
+ <calibration>1.5 -1 </calibration> <!-- Calibration stop/flag indicating location and then direction -->
+ </define>
+
+ <define template="pr2_elbow_pitch_inertial">
+ <mass> 1.689246 </mass>
+ <com> -0.011638 0.013173 0.001228 </com> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <inertia> 0.003275298548 0.000292046674 -0.000077359282 0.003236815206 -0.000001162155 0.00410053774 </inertia>
+ </defi...
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