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[Personalrobots-commit] SF.net SVN: personalrobots:[1853] pkg/trunk
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From: <hsu...@us...> - 2008-07-21 20:48:59
|
Revision: 1853
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=1853&view=rev
Author: hsujohnhsu
Date: 2008-07-21 20:49:06 +0000 (Mon, 21 Jul 2008)
Log Message:
-----------
move Media, world and models to a better place.
Modified Paths:
--------------
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml
pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml
Added Paths:
-----------
pkg/trunk/robot_descriptions/gazebo_robot_description/
pkg/trunk/robot_descriptions/gazebo_robot_description/Makefile
pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_torque.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_torque_control.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_torque_position.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray1.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray2.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray3.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray_hand.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_trimesh.model
Removed Paths:
-------------
pkg/trunk/demos/2dnav-gazebo/world/
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_torque.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_torque_control.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_torque_position.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray1.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray2.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray3.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_tray_hand.model
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_trimesh.model
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml 2008-07-21 20:47:26 UTC (rev 1852)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo-wg.xml 2008-07-21 20:49:06 UTC (rev 1853)
@@ -1,8 +1,8 @@
<launch>
<group name="wg">
- <node pkg="pr2_gazebo" type="run-gazebo.sh" args="$(find 2dnav-gazebo)/world/robot_wg.world" respawn="true" />
- <node pkg="map_server" type="map_server" args="$(find 2dnav-gazebo)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" />
+ <node pkg="pr2_gazebo" type="run-gazebo.sh" args="$(find gazebo_robot_description)/world/robot_wg.world" respawn="true" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/willowMap.png 0.1" respawn="false" />
<node pkg="pr2_gazebo" type="run-pr2_gazebo.sh" args="" respawn="true" />
<node pkg="amcl_player" type="amcl_player" respawn="false" />
<node pkg="wavefront_player" type="wavefront_player" respawn="false" />
Modified: pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml 2008-07-21 20:47:26 UTC (rev 1852)
+++ pkg/trunk/demos/2dnav-gazebo/2dnav-gazebo.xml 2008-07-21 20:49:06 UTC (rev 1853)
@@ -1,8 +1,8 @@
<launch>
<group name="wg">
- <node pkg="pr2_gazebo" type="run-gazebo.sh" args="$(find 2dnav-gazebo)/world/robot.world" respawn="true" />
- <node pkg="map_server" type="map_server" args="$(find 2dnav-gazebo)/world/Media/materials/textures/map3.png 0.1" respawn="false" />
+ <node pkg="pr2_gazebo" type="run-gazebo.sh" args="$(find gazebo_robot_description)/world/robot.world" respawn="true" />
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" />
<node pkg="pr2_gazebo" type="run-pr2_gazebo.sh" args="" respawn="true" />
<node pkg="amcl_player" type="amcl_player" respawn="false" />
<node pkg="wavefront_player" type="wavefront_player" respawn="false" />
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/Makefile
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/Makefile (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/Makefile 2008-07-21 20:49:06 UTC (rev 1853)
@@ -0,0 +1,5 @@
+all:
+ @echo Nothing to make
+
+clean:
+ @echo nothing to clean
\ No newline at end of file
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/manifest.xml 2008-07-21 20:49:06 UTC (rev 1853)
@@ -0,0 +1,8 @@
+<package>
+ <description>Gazebo world and model files for pr2.</description>
+ <author>John Hsu</author>
+ <license>BSD</license>
+ <url>http://pr.willowgarage.com/wiki/FIXME</url>
+ <depend package="gazebo"/>
+ <depend package="gazebo_plugin"/>
+</package>
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.model
===================================================================
--- pkg/trunk/demos/2dnav-gazebo/world/pr2.model 2008-07-21 20:30:36 UTC (rev 1846)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2.model 2008-07-21 20:49:06 UTC (rev 1853)
@@ -1,2037 +0,0 @@
-<?xml version="1.0"?>
-
-<!-- PR2 model -->
-<model:physical name="pr2_model"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- >
-
- <xyz>0.0 0.0 0.02</xyz>
- <rpy>0.0 0.0 0.0 </rpy>
-
- <canonicalBody>base_body</canonicalBody>
-
- <body:box name="base_body">
- <xyz>0.175 0.0 0.15 </xyz> <!-- base bottom is h/2 + some height for wheel clearance-->
- <rpy>0.0 0.0 0.0 </rpy>
-
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
-
- <geom:box name="base_body_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass>70.750964</mass>
- <ixx>5.6522326992070</ixx>
- <ixy>-0.009719934438</ixy>
- <ixz>1.2939882264230</ixz>
- <iyy>5.6694731586520</iyy>
- <iyz>-0.007379583694</iyz>
- <izz>3.6831963517260</izz>
- <cx>-0.061523</cx>
- <cy> 0.000942</cy>
- <cz> 0.293569</cz>
-
-
- <xyz> 0.0 0.00 0.000</xyz>
- <size>0.65 0.65 0.26</size>
- <mul>1</mul>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <xyz>0.0 0.0 -0.13</xyz> <!-- shift center of model to match the actual model -->
- <!--size>0.65 0.65 0.65</size-->
- <scale>0.001 0.001 0.001</scale>
- <rpy> 90.0 0.0 90.0 </rpy>
- <mesh>pr2_base.mesh</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
-
- </body:box>
-
-
- <!-- Hokuyo laser body -->
- <model:physical name="base_laser_model">
- <canonicalBody>base_laser_body</canonicalBody>
- <body:box name="base_laser_body">
- <xyz>0.45 0.0 0.27</xyz> <!-- from the robot coordinate system (center bottom of base box)-->
- <rpy>0.0 0.0 0.0</rpy>
-
- <geom:box name="base_laser_box">
- <xyz>0.0 0.0 0.02</xyz>
- <rpy>0 0 0</rpy>
- <size>0.05 0.05 0.041</size>
- <mass>0.12</mass>
-
- <visual>
- <scale>0.05 0.05 0.041</scale>
- <mesh>unit_box</mesh>
- <material>Gazebo/Blue</material>
- </visual>
-
- </geom:box>
- <geom:cylinder name="base_laser_cylinder1">
- <xyz>0.0 0.0 0.041</xyz>
- <rpy>0 0 0</rpy>
- <size>0.02 0.013</size>
- <mass>0.02</mass>
-
- <visual>
- <rpy>0 0 0</rpy>
- <scale>0.04 0.04 0.013</scale>
- <mesh>unit_cylinder</mesh>
- <material>Gazebo/Black</material>
- </visual>
-
- </geom:cylinder>
-
- <geom:cylinder name="base_laser_cylinder2">
- <xyz>0.0 0.0 0.054</xyz>
- <rpy>0 0 0</rpy>
- <size>0.018 0.009</size>
- <mass>0.02</mass>
-
- <visual>
- <rpy>0 0 0</rpy>
- <size>0.036 0.036 0.009</size>
- <mesh>unit_cylinder</mesh>
- <material>Gazebo/Black</material>
- </visual>
-
- </geom:cylinder>
-
- <geom:cylinder name="base_laser_cylinder3">
- <xyz>0.0 0.0 0.063</xyz>
- <rpy>0 0 0</rpy>
- <size>0.0175 0.008</size>
- <mass>0.02</mass>
-
- <visual>
- <rpy>0 0 0</rpy>
- <size>0.035 0.035 0.008</size>
- <mesh>unit_cylinder</mesh>
- <material>Gazebo/Shell</material>
- </visual>
-
- </geom:cylinder>
-
-
- <sensor:ray name="base_laser_1">
- <rayCount>68</rayCount>
- <rangeCount>683</rangeCount>
- <laserCount>1</laserCount>
- <origin>0.0 0.0 0.05</origin>
-
- <minAngle>-135</minAngle>
- <maxAngle>135</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>10.0</maxRange>
- <updateRate>10.0</updateRate>
- <controller:sicklms200_laser name="base_laser_controller_1">
- <interface:laser name="base_laser_iface_1"/>
- <updateRate>10</updateRate>
- </controller:sicklms200_laser>
- </sensor:ray>
- <!--
- -->
- <!--
- <sensor:ray2 name="laser_1">
- <rayCount>683</rayCount>
- <rangeCount>683</rangeCount>
- <laserCount>1</laserCount>
- <origin>0.0 0.0 0.05</origin>
-
- <minAngle>-135</minAngle>
- <maxAngle>135</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>10.0</maxRange>
- <controller:sick2lms200_laser name="laser_controller_1">
- <interface:laser name="laser_iface_1"/>
- <updateRate>10</updateRate>
- </controller:sick2lms200_laser>
- </sensor:ray2>
- -->
-
- </body:box>
-
- <!-- attach hokuyo to torso -->
- <attach>
- <parentBody>base_body</parentBody>
- <myBody>base_laser_body</myBody>
- </attach>
- </model:physical>
-
-
-
- <!-- ========== spine and shoulder =========== -->
- <canonicalBody>torso_body</canonicalBody>
-
- <body:box name="torso_body">
- <xyz>0.056 0.0 0.45</xyz>
- <rpy>0.0 0.0 0.0</rpy>
-
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
-
- <geom:box name="torso_geom">
- <xyz> 0.0 0.0 0.0 </xyz>
- <size>0.1 0.2 0.6 </size>
- <mass>1</mass>
- <visual>
- <!-- x y z -->
- <xyz> 0.1 0.0 -0.425 </xyz>
- <!--size>0.6 0.8 0.6 </size-->
- <scale>0.001 0.001 0.001</scale>
- <rpy>90.0 0.0 90.0 </rpy>
- <mesh>pr2_body.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
-
- <geom:box name="shoulder_geom">
- <xyz> 0.1 0.00 0.54</xyz>
- <size>0.3 0.65 0.02</size>
- <mass>1</mass>
- <visual>
- <!--size>0.3 0.65 0.02</size-->
- <size>0.0 0.0 0.0</size>
- <mesh>unit_box</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
-
- </body:box>
-
- <joint:slider name="torso_spine_slider">
- <body2>base_body</body2>
- <body1>torso_body</body1>
- <anchor>torso_body</anchor>
- <lowStop> 0.0 </lowStop>
- <highStop> 0.5 </highStop>
- <axis>0.0 0.0 1.0 </axis>
- <axisOffset> 0.0 0.0 0.0 </axisOffset>
- </joint:slider>
-
- <!-- ========== Right Arm =========== -->
- <body:cylinder name="shoulder_pan_body_right">
- <xyz> 0.1829361 -0.1329361 0.64 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:cylinder name="shoulder_pan_body_right_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 16.29553 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.793291393007 </ixx>
- <ixy> 0.003412032973 </ixy>
- <ixz> 0.0096614481 </ixz>
- <iyy> 0.818419457224</iyy>
- <iyz> -0.033999499551</iyz>
- <izz> 0.13915007406 </izz>
- <cx> -0.005215 </cx>
- <cy> -0.030552 </cy>
- <cz> -0.175743 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.13 0.60</size> <!-- radius and length -->
- <visual>
- <xyz> 0.00 0.0 0.185 </xyz>
- <rpy> 90.0 0.0 90.0 </rpy>
- <!--size> 0.26 0.6 0.36</size-->
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_sh_turret.mesh</mesh>
- <material>Gazebo/Green</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="upperarm_joint_right">
- <xyz> 0.285 -0.15 0.8269 </xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="upperarm_joint_right_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 2.41223</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.016640333585 </ixx>
- <ixy> 0.002696462583 </ixy>
- <ixz> 0.001337742275 </ixz>
- <iyy> 0.017232603914 </iyy>
- <iyz> -0.003605106514 </iyz>
- <izz> 0.018723553425 </izz>
- <cx> -0.035895 </cx>
- <cy> 0.014422 </cy>
- <cz> -0.028263</cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.12 0.10</size> <!-- radius and length -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 90.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_sh_pitch.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:box name="upperarm_right">
- <xyz> 0.575 -0.15 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="upperarm_right_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 4.9481 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.073060715309 </ixx>
- <ixy> 0.000547745916 </ixy>
- <ixz> 0.000119476885 </ixz>
- <iyy> 0.072124510748 </iyy>
- <iyz> 0.001544932307 </iyz>
- <izz> 0.013383284908 </izz>
- <cx> 0.001205 </cx>
- <cy> -0.016293 </cy>
- <cz> 0.21227</cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.35 0.12 0.15</size>
- <visual>
- <xyz> -0.20 0.0 0.0 </xyz>
- <rpy>180.0 -90.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_sh_roll.mesh</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:cylinder name="elbow_right">
- <xyz> 0.6850 -0.15 0.8269 </xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="elbow_right_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.689246</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.003275298548 </ixx>
- <ixy> 0.000292046674 </ixy>
- <ixz> -0.000077359282 </ixz>
- <iyy> 0.003236815206 </iyy>
- <iyz> -0.000001162155 </iyz>
- <izz> 0.00410053774 </izz>
- <cx> -0.011638 </cx>
- <cy> 0.013173 </cy>
- <cz> 0.001228</cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.08 0.1</size> <!-- radius and length -->
- <visual>
- <xyz> -0.135 0.0 0.0 </xyz>
- <rpy> 0.0 -90.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_elbow_pitch.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:box name="forearm_right">
- <xyz> 0.90225 -0.15 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="forearm_right_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.804155 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012430552544 </ixx>
- <ixy> -0.000003671102 </ixy>
- <ixz> 0.000029379389 </ixz>
- <iyy> 0.013567548848 </iyy>
- <iyz> -0.000427679042 </iyz>
- <izz> 0.001755089866 </izz>
- <cx> -0.000058 </cx>
- <cy> 0.013779 </cy>
- <cz> 0.179474 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.27 0.12 0.08</size>
- <visual>
- <xyz> 0.11 0.0 0.0 </xyz>
- <rpy> 0.0 -90.0 -90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_forearm_roll.mesh</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:cylinder name="wrist_right">
- <xyz> 1.008 -0.15 0.8269 </xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="wrist_right_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.804155 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012430552544 </ixx>
- <ixy> -0.000003671102 </ixy>
- <ixz> 0.000029379389 </ixz>
- <iyy> 0.013567548848 </iyy>
- <iyz> -0.000427679042 </iyz>
- <izz> 0.001755089866 </izz>
- <cx> 0.0 </cx>
- <cy> 0.0 </cy>
- <cz> 0.0 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.031 0.1</size> <!-- radius and length -->
- <visual>
- <xyz> 0.008 0.0 0.0 </xyz>
- <rpy> 90.0 0.0 -90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wrist_pitch.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:box name="palm_right">
- <xyz> 1.10 -0.15 0.8269</xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="palm_right_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.804155 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012430552544 </ixx>
- <ixy> -0.000003671102 </ixy>
- <ixz> 0.000029379389 </ixz>
- <iyy> 0.013567548848 </iyy>
- <iyz> -0.000427679042 </iyz>
- <izz> 0.001755089866 </izz>
- <cx> 0.0 </cx>
- <cy> 0.0 </cy>
- <cz> 0.0 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.11 0.10 0.05</size>
- <visual>
- <xyz> -0.035 0.0 0.0 </xyz>
- <rpy> 0.0 90.0 90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wrist_roll.mesh</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:box name="finger_1_right">
- <xyz> 1.18 -0.17 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="finger_1_right_geom">
- <kp>100000000.0</kp>
- <kd>1.0</kd>
- <size> 0.05 0.01 0.025</size>
- <mass>0.1</mass>
- <visual>
- <size> 0.05 0.01 0.025</size>
- <mesh>unit_box</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:box name="finger_2_right">
- <xyz> 1.18 -0.13 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="finger_2_right_geom">
- <kp>100000000.0</kp>
- <kd>1.0</kd>
- <size> 0.05 0.01 0.025</size>
- <mass>0.1</mass>
- <visual>
- <size> 0.05 0.01 0.025</size>
- <mesh>unit_box</mesh>
- <material>Gazebo/Blue</material>
- </visual>
- </geom:box>
- </body:box>
-
-
-
-
-
-
- <joint:hinge name="shoulder_pan_right">
- <body1>shoulder_pan_body_right</body1>
- <body2>torso_body</body2>
- <anchor>shoulder_pan_body_right</anchor>
- <axis> 0.0 0.0 1.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="upperarm_pitch_joint_right">
- <body2>shoulder_pan_body_right</body2>
- <body1>upperarm_joint_right</body1>
- <anchor>upperarm_joint_right</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="upperarm_roll_joint_right">
- <body1>upperarm_right</body1>
- <body2>upperarm_joint_right</body2>
- <anchor>upperarm_joint_right</anchor>
- <axis> 1.0 0.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="elbow_pitch_joint_right">
- <body1>elbow_right</body1>
- <body2>upperarm_right</body2>
- <anchor>elbow_right</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="forearm_roll_joint_right">
- <body1>forearm_right</body1>
- <body2>elbow_right</body2>
- <anchor>elbow_right</anchor>
- <axis> 1.0 0.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="wrist_pitch_joint_right">
- <body1>wrist_right</body1>
- <body2>forearm_right</body2>
- <anchor>wrist_right</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="palm_roll_joint_right">
- <body1>palm_right</body1>
- <body2>wrist_right</body2>
- <anchor>palm_right</anchor>
- <axis> 1.0 0.0 0.0 </axis>
- <axisOffset> 0.0 0.0 0.0 </axisOffset>
- </joint:hinge>
-
- <joint:slider name="finger_1_slider_right">
- <body2>finger_1_right</body2>
- <body1>palm_right</body1>
- <anchor>palm_right</anchor>
- <lowStop> -0.02 </lowStop> <!-- red close -->
- <highStop> 0.05 </highStop> <!-- red open -->
- <axis>0.0 1.0 0.0 </axis>
- </joint:slider>
-
- <joint:slider name="finger_2_slider_right">
- <body2>finger_2_right</body2>
- <body1>palm_right</body1>
- <anchor>palm_right</anchor>
- <lowStop> -0.05 </lowStop> <!-- white open -->
- <highStop> 0.02 </highStop> <!-- white close -->
- <axis>0.0 1.0 0.0 </axis>
- </joint:slider>
-
- <!-- ========== Left Arm =========== -->
- <body:cylinder name="shoulder_pan_body_left">
- <xyz> 0.1829361 0.1329361 0.64 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:cylinder name="shoulder_pan_body_left_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 16.29553 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.793291393007 </ixx>
- <ixy> 0.003412032973 </ixy>
- <ixz> 0.0096614481 </ixz>
- <iyy> 0.818419457224</iyy>
- <iyz> -0.033999499551</iyz>
- <izz> 0.13915007406 </izz>
- <cx> -0.005215 </cx>
- <cy> -0.030552 </cy>
- <cz> -0.175743 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.13 0.6</size> <!-- radius and length -->
- <visual>
- <xyz> 0.00 0.0 0.185 </xyz>
- <rpy> 90.0 0.0 90.0 </rpy>
- <!--size> 0.26 0.6 0.36</size-->
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_sh_turret.mesh</mesh>
- <material>Gazebo/Green</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="upperarm_joint_left">
- <xyz> 0.285 0.15 0.8269 </xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="upperarm_joint_left_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 2.41223</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.016640333585 </ixx>
- <ixy> 0.002696462583 </ixy>
- <ixz> 0.001337742275 </ixz>
- <iyy> 0.017232603914 </iyy>
- <iyz> -0.003605106514 </iyz>
- <izz> 0.018723553425 </izz>
- <cx> -0.035895 </cx>
- <cy> 0.014422 </cy>
- <cz> -0.028263</cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.12 0.10</size> <!-- radius and length -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 90.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_sh_pitch.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:box name="upperarm_left">
- <xyz> 0.575 0.15 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="upperarm_left_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 4.9481 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.073060715309 </ixx>
- <ixy> 0.000547745916 </ixy>
- <ixz> 0.000119476885 </ixz>
- <iyy> 0.072124510748 </iyy>
- <iyz> 0.001544932307 </iyz>
- <izz> 0.013383284908 </izz>
- <cx> 0.001205 </cx>
- <cy> -0.016293 </cy>
- <cz> 0.21227</cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.35 0.12 0.15</size>
- <visual>
- <xyz> -0.20 0.0 0.0 </xyz>
- <rpy>180.0 -90.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_sh_roll.mesh</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:cylinder name="elbow_left">
- <xyz> 0.6850 0.15 0.8269 </xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="elbow_left_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.689246</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.003275298548 </ixx>
- <ixy> 0.000292046674 </ixy>
- <ixz> -0.000077359282 </ixz>
- <iyy> 0.003236815206 </iyy>
- <iyz> -0.000001162155 </iyz>
- <izz> 0.00410053774 </izz>
- <cx> -0.011638 </cx>
- <cy> 0.013173 </cy>
- <cz> 0.001228</cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.08 0.1</size> <!-- radius and length -->
- <visual>
- <xyz> -0.135 0.0 0.0 </xyz>
- <rpy> 0.0 -90.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_elbow_pitch.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:box name="forearm_left">
- <xyz> 0.90225 0.15 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="forearm_left_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.804155 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012430552544 </ixx>
- <ixy> -0.000003671102 </ixy>
- <ixz> 0.000029379389 </ixz>
- <iyy> 0.013567548848 </iyy>
- <iyz> -0.000427679042 </iyz>
- <izz> 0.001755089866 </izz>
- <cx> -0.000058 </cx>
- <cy> 0.013779 </cy>
- <cz> 0.179474 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.27 0.12 0.08</size>
- <visual>
- <xyz> 0.11 0.0 0.0 </xyz>
- <rpy> 0.0 -90.0 -90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_forearm_roll.mesh</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:cylinder name="wrist_left">
- <xyz> 1.008 0.15 0.8269 </xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="wrist_left_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.804155 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012430552544 </ixx>
- <ixy> -0.000003671102 </ixy>
- <ixz> 0.000029379389 </ixz>
- <iyy> 0.013567548848 </iyy>
- <iyz> -0.000427679042 </iyz>
- <izz> 0.001755089866 </izz>
- <cx> 0.0 </cx>
- <cy> 0.0 </cy>
- <cz> 0.0 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.031 0.1</size> <!-- radius and length -->
- <visual>
- <xyz> 0.003 0.0 0.0 </xyz>
- <rpy> 90.0 0.0 -90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wrist_pitch.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:box name="palm_left">
- <xyz> 1.10 0.15 0.8269</xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="palm_left_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 1.804155 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012430552544 </ixx>
- <ixy> -0.000003671102 </ixy>
- <ixz> 0.000029379389 </ixz>
- <iyy> 0.013567548848 </iyy>
- <iyz> -0.000427679042 </iyz>
- <izz> 0.001755089866 </izz>
- <cx> 0.0 </cx>
- <cy> 0.0 </cy>
- <cz> 0.0 </cz>
-
- <kp>1000000.0</kp>
- <kd>1.0</kd>
- <size> 0.11 0.10 0.05</size>
- <visual>
- <xyz> -0.035 0.0 0.0 </xyz>
- <rpy> 0.0 90.0 90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wrist_roll.mesh</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:box name="finger_1_left">
- <xyz> 1.18 0.13 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="finger_1_left_geom">
- <kp>100000000.0</kp>
- <kd>1.0</kd>
- <size> 0.05 0.01 0.025</size>
- <mass>0.1</mass>
- <visual>
- <size> 0.05 0.01 0.025</size>
- <mesh>unit_box</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:box name="finger_2_left">
- <xyz> 1.18 0.17 0.8269 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <geom:box name="finger_2_left_geom">
- <kp>100000000.0</kp>
- <kd>1.0</kd>
- <size> 0.05 0.01 0.025</size>
- <mass>0.1</mass>
- <visual>
- <size> 0.05 0.01 0.025</size>
- <mesh>unit_box</mesh>
- <material>Gazebo/Blue</material>
- </visual>
- </geom:box>
- </body:box>
-
-
-
- <joint:hinge name="shoulder_pan_left">
- <body1>shoulder_pan_body_left</body1>
- <body2>torso_body</body2>
- <anchor>shoulder_pan_body_left</anchor>
- <axis> 0.0 0.0 1.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="upperarm_pitch_joint_left">
- <body1>upperarm_joint_left</body1>
- <body2>shoulder_pan_body_left</body2>
- <anchor>upperarm_joint_left</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="upperarm_roll_joint_left">
- <body1>upperarm_left</body1>
- <body2>upperarm_joint_left</body2>
- <anchor>upperarm_joint_left</anchor>
- <axis> 1.0 0.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="elbow_pitch_joint_left">
- <body1>elbow_left</body1>
- <body2>upperarm_left</body2>
- <anchor>elbow_left</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="forearm_roll_joint_left">
- <body1>forearm_left</body1>
- <body2>elbow_left</body2>
- <anchor>elbow_left</anchor>
- <axis> 1.0 0.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="wrist_pitch_joint_left">
- <body1>wrist_left</body1>
- <body2>forearm_left</body2>
- <anchor>wrist_left</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <joint:hinge name="palm_roll_joint_left">
- <body1>palm_left</body1>
- <body2>wrist_left</body2>
- <anchor>palm_left</anchor>
- <axis> 1.0 0.0 0.0 </axis>
- </joint:hinge>
-
- <joint:slider name="finger_1_slider_left">
- <body2>finger_1_left</body2>
- <body1>palm_left</body1>
- <anchor>palm_left</anchor>
- <lowStop> -0.02 </lowStop> <!-- red close -->
- <highStop> 0.05 </highStop> <!-- red open -->
- <axis>0.0 1.0 0.0 </axis>
- </joint:slider>
-
- <joint:slider name="finger_2_slider_left">
- <body2>finger_2_left</body2>
- <body1>palm_left</body1>
- <anchor>palm_left</anchor>
- <lowStop> -0.05 </lowStop> <!-- white open -->
- <highStop> 0.02 </highStop> <!-- white close -->
- <axis>0.0 1.0 0.0 </axis>
- </joint:slider>
-
-
- <!-- neck body -->
- <model:physical name="neck_model">
- <body:box name="neck_body">
- <xyz>0.10 0.0 1.03</xyz>
- <rpy>0.0 0.0 0.0</rpy>
- <!--xyz>0.0 0.0 0.0</xyz>
- <rpy>0.0 0.0 0.0</rpy-->
- <geom:box name="neck_geom">
- <!--size>.20 .38 .14</size-->
- <size>0.01 0.01 0.01</size>
- <mass>0.01</mass>
- <visual>
- <mesh>unit_box</mesh>
- <!--size>.20 .38 .14</size-->
- <size>0.01 0.01 0.01</size>
- <material>Gazebo/Black</material>
- </visual>
- </geom:box>
- </body:box>
-
- <!-- attach neck to torso -->
- <attach>
- <parentBody>torso_body</parentBody>
- <myBody>neck_body</myBody>
- </attach>
-
- <canonicalBody>head_base_body</canonicalBody>
- <body:box name="head_base_body">
- <xyz>0.10 0.0 1.13 </xyz>
- <rpy>0.0 0.0 0.0 </rpy>
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
- <geom:box name="head_base_geom">
- <xyz> 0.0 0.00 0.000</xyz>
- <size>0.165 0.21 0.003</size>
- <mass>0.1</mass>
- <mul>1</mul>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.165 0.21 0.003</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
-
- <canonicalBody>head_tilt_body</canonicalBody>
- <body:box name="head_tilt_body">
- <xyz>0.10 0.0 1.07 </xyz>
- <rpy>0.0 0.0 0.0 </rpy>
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
- <geom:box name="head_tilt_geom">
- <xyz> 0.0 0.00 0.150</xyz>
- <size>0.165 0.21 0.003</size>
- <mass>0.1</mass>
- <mul>1</mul>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.165 0.21 0.003</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/Black</material>
- </visual>
- </geom:box>
- <geom:box name="head_tilt_left_geom">
- <xyz> 0.0 -0.105 0.10</xyz>
- <size>0.165 0.003 0.10</size>
- <mass>0.1</mass>
- <mul>1</mul>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.165 0.003 0.10</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- <geom:box name="head_tilt_right_geom">
- <xyz> 0.0 0.105 0.10</xyz>
- <size>0.165 0.003 0.10</size>
- <mass>0.1</mass>
- <mul>1</mul>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.165 0.003 0.10</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <!-- attach head_base to head_tilt -->
- <joint:hinge name="head_tilt_joint">
- <body2>head_tilt_body</body2>
- <body1>head_base_body</body1>
- <anchor>head_tilt_body</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <!-- attach head to neck -->
- <joint:hinge name="neck_yaw_joint">
- <body1>neck_body</body1>
- <body2>head_base_body</body2>
- <anchor>head_base_body</anchor>
- <axis> 0.0 0.0 1.0 </axis>
- </joint:hinge>
-
-
- <!-- left camera -->
- <body:box name="head_cam_left_body">
- <xyz> 0.15 0.23 1.07 </xyz>
- <rpy> 0.00 0.0 0.00 </rpy>
- <sensor:camera name="head_cam_left_sensor">
- <imageSize>640 480</imageSize>
- <hfov>60</hfov>
- <nearClip>0.1</nearClip>
- <farClip>100</farClip>
- <updateRate>15.0</updateRate>
- <controller:generic_camera name="head_cam_left_controller">
- <updateRate>15.0</updateRate>
- <interface:camera name="head_cam_left_iface_0" />
- </controller:generic_camera>
- </sensor:camera>
- <geom:box name="head_cam_left_geom">
- <xyz> 0.00 0.00 0.00</xyz>
- <size>0.05 0.03 0.04</size>
- <mass>0.1</mass>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.05 0.03 0.04</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
- <body:box name="head_cam_base_left_body">
- <xyz> 0.15 0.20 1.07 </xyz>
- <rpy> 0.00 0.0 0.00 </rpy>
- <geom:box name="head_cam_base_left_geom">
- <xyz> 0.00 0.00 0.00</xyz>
- <size>0.05 0.02 0.02</size>
- <mass>0.1</mass>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.05 0.02 0.02</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <!-- right camera -->
- <body:empty name="head_cam_right_body">
- <xyz> 0.15 -0.23 1.07 </xyz>
- <rpy> 0.00 0.0 0.00 </rpy>
- <sensor:camera name="head_cam_right_sensor">
- <imageSize>640 480</imageSize>
- <hfov>60</hfov>
- <nearClip>0.1</nearClip>
- <farClip>100</farClip>
- <updateRate>15.0</updateRate>
- <controller:generic_camera name="head_cam_right_controller">
- <updateRate>15.0</updateRate>
- <interface:camera name="head_cam_right_iface_0" />
- </controller:generic_camera>
- </sensor:camera>
- <geom:box name="head_cam_right_geom">
- <xyz> 0.00 0.00 0.00</xyz>
- <size>0.05 0.03 0.04</size>
- <mass>0.1</mass>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.05 0.03 0.04</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:empty>
- <body:box name="head_cam_base_right_body">
- <xyz> 0.15 -0.20 1.07 </xyz>
- <rpy> 0.00 0.0 0.00 </rpy>
- <geom:box name="head_cam_base_right_geom">
- <xyz> 0.00 0.00 0.00</xyz>
- <size>0.05 0.02 0.02</size>
- <mass>0.1</mass>
- <!--color> 0.0 1.0 0.0</color-->
- <visual>
- <size>0.05 0.02 0.02</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/Shell</material>
- </visual>
- </geom:box>
- </body:box>
-
- <!-- attach neck_body to ptz cameras -->
- <joint:hinge name="head_cam_left_yaw_joint">
- <body1>head_cam_left_body</body1>
- <body2>head_cam_base_left_body</body2>
- <anchor>head_cam_left_body</anchor>
- <axis> 0.0 0.0 1.0 </axis>
- </joint:hinge>
- <joint:hinge name="head_cam_left_pitch_joint">
- <body1>head_cam_base_left_body</body1>
- <body2>neck_body</body2>
- <anchor>head_cam_base_left_body</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
- <joint:hinge name="head_cam_right_yaw_joint">
- <body2>head_cam_right_body</body2>
- <body1>head_cam_base_right_body</body1>
- <anchor>head_cam_right_body</anchor>
- <axis> 0.0 0.0 1.0 </axis>
- </joint:hinge>
- <joint:hinge name="head_cam_right_pitch_joint">
- <body2>head_cam_base_right_body</body2>
- <body1>neck_body</body1>
- <anchor>head_cam_base_right_body</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
-
- <!-- stereo camera -->
- <body:empty name="stereo_camera_body">
- <xyz> 0.10 0.0 1.25 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <sensor:stereocamera name="stereo_camera_sensor">
- <imageSize>640 480</imageSize>
- <hfov>60</hfov>
- <nearClip>0.1</nearClip>
- <farClip>100</farClip>
- <saveFrames>false</saveFrames>
- <saveFramePath>frames</saveFramePath>
- <baseline>0.2</baseline>
- <updateRate>15.0</updateRate>
- <controller:stereocamera name="stereo_camera_controller">
- <updateRate>15.0</updateRate>
- <interface:stereocamera name="stereo_iface_0" />
- <interface:camera name="camera_iface_0" />
- </controller:stereocamera>
- </sensor:stereocamera>
- <geom:box name="stereo_camera_geom">
- <xyz> 0.00 0.00 0.00</xyz>
- <size>0.10 0.15 0.10</size>
- <mass>0.1</mass>
- <visual>
- <size>0.10 0.15 0.10</size>
- <rpy>0.0 0.0 0.0 </rpy>
- <mesh>unit_box</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:empty>
-
- <!-- attach stereo_camera to head_tilt -->
- <joint:hinge name="stereo_camera_roll_joint">
- <body2>head_tilt_body</body2>
- <body1>stereo_camera_body</body1>
- <anchor>head_tilt_body</anchor>
- <axis> 1.0 0.0 0.0 </axis>
- </joint:hinge>
- <joint:hinge name="stereo_camera_pitch_joint">
- <body2>head_tilt_body</body2>
- <body1>stereo_camera_body</body1>
- <anchor>head_tilt_body</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
- <joint:hinge name="stereo_camera_yaw_joint">
- <body2>head_tilt_body</body2>
- <body1>stereo_camera_body</body1>
- <anchor>head_tilt_body</anchor>
- <axis> 0.0 0.0 010 </axis>
- </joint:hinge>
-
- <!-- Hokuyo laser body -->
- <canonicalBody>laser_body</canonicalBody>
- <body:box name="laser_body">
- <xyz>0.23 0.0 1.0</xyz>
- <rpy>0.0 0.0 0.0</rpy>
-
- <geom:box name="laser_box">
- <xyz>0.0 0.0 0.02</xyz>
- <rpy>0 0 0</rpy>
- <size>0.05 0.05 0.041</size>
- <mass>0.12</mass>
-
- <visual>
- <scale>0.05 0.05 0.041</scale>
- <mesh>unit_box</mesh>
- <material>Gazebo/Blue</material>
- </visual>
-
- </geom:box>
- <geom:cylinder name="laser_cylinder1">
- <xyz>0.0 0.0 0.041</xyz>
- <rpy>0 0 0</rpy>
- <size>0.02 0.013</size>
- <mass>0.02</mass>
-
- <visual>
- <rpy>0 0 0</rpy>
- <scale>0.04 0.04 0.013</scale>
- <mesh>unit_cylinder</mesh>
- <material>Gazebo/Black</material>
- </visual>
-
- </geom:cylinder>
-
- <geom:cylinder name="laser_cylinder2">
- <xyz>0.0 0.0 0.054</xyz>
- <rpy>0 0 0</rpy>
- <size>0.018 0.009</size>
- <mass>0.02</mass>
-
- <visual>
- <rpy>0 0 0</rpy>
- <size>0.036 0.036 0.009</size>
- <mesh>unit_cylinder</mesh>
- <material>Gazebo/Black</material>
- </visual>
-
- </geom:cylinder>
-
- <geom:cylinder name="laser_cylinder3">
- <xyz>0.0 0.0 0.063</xyz>
- <rpy>0 0 0</rpy>
- <size>0.0175 0.008</size>
- <mass>0.02</mass>
-
- <visual>
- <rpy>0 0 0</rpy>
- <size>0.035 0.035 0.008</size>
- <mesh>unit_cylinder</mesh>
- <material>Gazebo/Shell</material>
- </visual>
-
- </geom:cylinder>
-
-
- <sensor:ray name="laser_1">
- <rayCount>68</rayCount>
- <rangeCount>683</rangeCount>
- <laserCount>1</laserCount>
- <origin>0.0 0.0 0.05</origin>
-
- <minAngle>-45</minAngle>
- <maxAngle>45</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>10.0</maxRange>
- <updateRate>10</updateRate>
- <controller:sicklms200_laser name="laser_controller_1">
- <interface:laser name="laser_iface_1"/>
- <updateRate>10</updateRate>
- </controller:sicklms200_laser>
- </sensor:ray>
- <!--
- -->
- <!--
- <sensor:ray2 name="laser_1">
- <rayCount>683</rayCount>
- <rangeCount>683</rangeCount>
- <laserCount>1</laserCount>
- <origin>0.0 0.0 0.05</origin>
-
- <minAngle>-135</minAngle>
- <maxAngle>135</maxAngle>
-
- <minRange>0.05</minRange>
- <maxRange>10.0</maxRange>
- <controller:sick2lms200_laser name="laser_controller_1">
- <interface:laser name="laser_iface_1"/>
- <updateRate>10</updateRate>
- </controller:sick2lms200_laser>
- </sensor:ray2>
- -->
-
- </body:box>
-
- <!-- attach hokuyo to torso -->
- <joint:hinge name="hokuyo_pitch_joint">
- <body1>neck_body</body1>
- <body2>laser_body</body2>
- <anchor>laser_body</anchor>
- <axis> 0.0 1.0 0.0 </axis>
- </joint:hinge>
-
- <controller:pr2_actarray name="pr2_head_controller" plugin="libPr2_Actarray.so">
- <updateRate>100.0</updateRate>
- <joint name="neck_yaw_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="head_tilt_joint">
- <saturationTorque>10</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="hokuyo_pitch_joint">
- <saturationTorque>1000</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="head_cam_left_yaw_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="head_cam_left_pitch_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="head_cam_right_yaw_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <joint name="head_cam_right_pitch_joint">
- <saturationTorque>100</saturationTorque>
- <pGain>1</pGain>
- <dGain>0</dGain>
- <iGain>0</iGain>
- <iClamp>0</iClamp>
- </joint>
- <interface:pr2array name="pr2_head_iface"/>
- </controller:pr2_actarray>
-
-
- </model:physical>
-
-
-
-
- <!--=========================== caster ===========================-->
-
- <canonicalBody>front_left_caster_body</canonicalBody>
- <canonicalBody>front_right_caster_body</canonicalBody>
- <canonicalBody>rear_left_caster_body</canonicalBody>
- <canonicalBody>rear_right_caster_body</canonicalBody>
-
- <!--=========================== caster body ===========================-->
- <body:box name="front_left_caster_body">
- <xyz>0.425 0.25 0.16069 </xyz> <!-- caster height + height off ground of base bottom -->
- <rpy> 0.0 0.0 0.0 </rpy>
-
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
-
- <geom:box name="front_left_caster_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass>3.473082</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.007342 </cx>
- <cy> 0.00015 </cy>
- <cz> 0.095236 </cz>
-
- <kp>10000000.0</kp>
- <kd>1.0</kd>
- <xyz> 0.0 0.0 -0.08</xyz>
- <size>0.1 0.08 0.1</size> <!-- dx, dy, dz -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 90.0 0.0 90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_caster.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:box name="front_right_caster_body">
- <xyz> 0.425 -0.25 0.16069</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
-
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
-
- <geom:box name="front_right_caster_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass>3.473082</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.007342 </cx>
- <cy> 0.00015 </cy>
- <cz> 0.095236 </cz>
-
- <kp>10000000.0</kp>
- <kd>1.0</kd>
- <xyz>0 0 -0.08</xyz>
- <size>0.1 0.08 0.1</size> <!-- dx, dy, dz -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 90.0 0.0 90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_caster.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:box name="rear_left_caster_body">
- <xyz> -0.075 0.25 0.16069</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
-
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
-
- <geom:box name="rear_left_caster_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass>3.473082</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.007342 </cx>
- <cy> 0.00015 </cy>
- <cz> 0.095236 </cz>
-
- <kp>10000000.0</kp>
- <kd>1.0</kd>
- <xyz>0 0 -0.08</xyz>
- <size>0.1 0.08 0.1</size> <!-- dx, dy, dz -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 90.0 0.0 90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_caster.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
-
- <body:box name="rear_right_caster_body">
- <xyz>-0.075 -0.25 0.16069</xyz>
- <rpy> 0.0 0.0 0.0</rpy>
- <!-- report when this body collides with static bodies -->
- <reportStaticCollision>true</reportStaticCollision>
-
- <geom:box name="rear_right_caster_geom">
-
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass>3.473082</mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.007342 </cx>
- <cy> 0.00015 </cy>
- <cz> 0.095236 </cz>
-
- <kp>10000000.0</kp>
- <kd>1.0</kd>
- <xyz>0 0 -0.08</xyz>
- <size>0.1 0.08 0.1</size> <!-- dx, dy, dz -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 90.0 0.0 90.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_caster.mesh</mesh>
- <material>Gazebo/PioneerBody</material>
- </visual>
- </geom:box>
- </body:box>
-
-
- <!--=========================== wheels ===========================-->
- <body:cylinder name="front_left_wheel_l">
- <xyz> 0.425 0.305 0.08</xyz> <!-- basically wheel radius height -->
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="front_left_wheel_l_geom">
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 0.44036 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.000008 </cx>
- <cy> 0.000008 </cy>
- <cz> 0.008475 </cz>
-
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
- <size> 0.08 0.03</size> <!-- radius and width -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wheel.mesh</mesh>
- <material>Gazebo/Black</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="front_left_wheel_r">
- <xyz> 0.425 0.195 0.08</xyz>
- <rpy> 90.0 0.0 180.0 </rpy>
- <geom:cylinder name="front_left_wheel_r_geom">
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 0.44036 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.000008 </cx>
- <cy> 0.000008 </cy>
- <cz> 0.008475 </cz>
-
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
- <size> 0.08 0.03</size> <!-- radius and width -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wheel.mesh</mesh>
- <material>Gazebo/Black</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="front_right_wheel_l">
- <xyz> 0.425 -0.195 0.08</xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="front_right_wheel_l_geom">
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 0.44036 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.000008 </cx>
- <cy> 0.000008 </cy>
- <cz> 0.008475 </cz>
-
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
- <size> 0.08 0.03</size> <!-- radius and width -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wheel.mesh</mesh>
- <material>Gazebo/Black</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="front_right_wheel_r">
- <xyz> 0.425 -0.305 0.08</xyz>
- <rpy> 90.0 0.0 180.0 </rpy>
- <geom:cylinder name="front_right_wheel_r_geom">
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 0.44036 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.000008 </cx>
- <cy> 0.000008 </cy>
- <cz> 0.008475 </cz>
-
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
- <size> 0.08 0.03</size> <!-- radius and width -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wheel.mesh</mesh>
- <material>Gazebo/Black</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="rear_left_wheel_l">
- <xyz> -0.075 0.305 0.08</xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="rear_left_wheel_l_geom">
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 0.44036 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.000008 </cx>
- <cy> 0.000008 </cy>
- <cz> 0.008475 </cz>
-
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
- <size> 0.08 0.03</size> <!-- radius and width -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wheel.mesh</mesh>
- <material>Gazebo/Black</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="rear_left_wheel_r">
- <xyz> -0.075 0.195 0.08</xyz>
- <rpy> 90.0 0.0 180.0 </rpy>
- <geom:cylinder name="rear_left_wheel_r_geom">
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 0.44036 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.000008 </cx>
- <cy> 0.000008 </cy>
- <cz> 0.008475 </cz>
-
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
- <size> 0.08 0.03</size> <!-- radius and width -->
- <visual>
- <xyz> 0.0 0.0 0.0 </xyz>
- <rpy> 0.0 0.0 0.0 </rpy>
- <scale>0.001 0.001 0.001</scale>
- <mesh>pr2_wheel.mesh</mesh>
- <material>Gazebo/Black</material>
- </visual>
- </geom:cylinder>
- </body:cylinder>
-
- <body:cylinder name="rear_right_wheel_l">
- <xyz> -0.075 -0.195 0.08</xyz>
- <rpy> 90.0 0.0 0.0 </rpy>
- <geom:cylinder name="rear_right_wheel_l_geom">
- <massMatrix>true</massMatrix> <!-- user provide full mass and inertia matrix -->
- <mass> 0.44036 </mass> <!-- who would have thought we have 6 digits of precision!? -->
- <ixx> 0.012411765597 </ixx>
- <ixy> -0.000711733678 </ixy>
- <ixz> 0.00050272983 </ixz>
- <iyy> 0.015218160428 </iyy>
- <iyz> -0.000004273467 </iyz>
- <izz> 0.011763977943 </izz>
- <cx> 0.000008 </cx>
- <cy> 0.000008 </cy>
- <cz> 0.008475 </cz>
-
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <mu1>5.0</mu1>
- <mu2>5.0</mu2>
- <size> 0.08 0.03</size> <!-- radius and width -->
- <vi...
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