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[Personalrobots-commit] SF.net SVN: personalrobots:[3661] pkg/trunk
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From: <hsu...@us...> - 2008-08-27 00:33:23
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Revision: 3661
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3661&view=rev
Author: hsujohnhsu
Date: 2008-08-27 00:33:33 +0000 (Wed, 27 Aug 2008)
Log Message:
-----------
added flag for turning gravity off. experimental.
update printing for test_actuators.
Modified Paths:
--------------
pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
Added Paths:
-----------
pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators.xml
Modified: pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
===================================================================
--- pkg/trunk/3rdparty/gazebo/gazebo_patch.diff 2008-08-27 00:15:44 UTC (rev 3660)
+++ pkg/trunk/3rdparty/gazebo/gazebo_patch.diff 2008-08-27 00:33:33 UTC (rev 3661)
@@ -600,6 +600,18 @@
private: Param<Vector3> *xyzP;
private: Param<Quatern> *rpyP;
+Index: server/physics/Body.hh
+===================================================================
+--- server/physics/Body.hh (revision 6981)
++++ server/physics/Body.hh (working copy)
+@@ -170,6 +170,7 @@
+
+ private: Param<Vector3> *xyzP;
+ private: Param<Quatern> *rpyP;
++ private: Param<bool> *turnGravityOffP;
+ };
+
+ /// \}
Index: server/physics/HingeJoint.hh
===================================================================
--- server/physics/HingeJoint.hh (revision 6981)
@@ -737,6 +749,27 @@
if (dMassCheck(&this->bodyMass))
{
dMassRotate(&this->bodyMass, r);
+Index: server/physics/Body.cc
+===================================================================
+--- server/physics/Body.cc (revision 6981)
++++ server/physics/Body.cc (working copy)
+@@ -66,6 +66,7 @@
+
+ this->xyzP = new Param<Vector3>("xyz", Vector3(), 0);
+ this->rpyP = new Param<Quatern>("rpy", Quatern(), 0);
++ this->turnGravityOffP = new Param<bool>("turnGravityOff", false, 0);
+ }
+
+
+@@ -129,7 +130,7 @@
+ }
+
+ // If no geoms are attached, then don't let gravity affect the body.
+- if (this->geoms.size()==0)
++ if (this->turnGravityOffP->GetValue() || this->geoms.size()==0)
+ {
+ this->SetGravityMode(false);
+ }
Index: server/physics/HingeJoint.cc
===================================================================
--- server/physics/HingeJoint.cc (revision 6981)
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp 2008-08-27 00:15:44 UTC (rev 3660)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp 2008-08-27 00:33:33 UTC (rev 3661)
@@ -379,12 +379,12 @@
std::cout << " LoadChild controller name: " << *controller_name << " type " << *controller_type << std::endl;
// initialize controller
- std::cout << " adding to mc_ " ;
+ std::cout << " adding to mc_ " << *controller_name << "(" << *controller_type << ")" << std::endl;
mc_.spawnController(*controller_type,
*controller_name,
zit);
- std::cout << " adding to rmc_ " ;
+ std::cout << " adding to rmc_ " << *controller_name << "(" << *controller_type << ")" << std::endl;
rmc_.spawnController(*controller_type,
*controller_name,
zit);
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators.xml (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators.xml 2008-08-27 00:33:33 UTC (rev 3661)
@@ -0,0 +1 @@
+link ../../wg_robot_description/pr2/pr2_gazebo_actuators.xml
\ No newline at end of file
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/world/pr2_gazebo_actuators.xml
___________________________________________________________________
Added: svn:special
+ *
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml 2008-08-27 00:15:44 UTC (rev 3660)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml 2008-08-27 00:33:33 UTC (rev 3661)
@@ -1165,6 +1165,9 @@
<collision >
<insert_const_block name="pr2_shoulder_pan_collision"/>
</collision>
+ <map name="pr2_shoulder_pan_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="shoulder_pan_right"><!-- link specifying the shoulder of the robot -->
@@ -1183,6 +1186,9 @@
<collision >
<insert_const_block name="pr2_shoulder_pan_collision"/>
</collision>
+ <map name="pr2_shoulder_pan_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
@@ -1202,6 +1208,9 @@
<collision >
<insert_const_block name="pr2_shoulder_pitch_collision"/>
</collision>
+ <map name="pr2_shoulder_pitch_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="shoulder_pitch_right"><!-- link specifying the shoulder of the robot -->
@@ -1220,6 +1229,9 @@
<collision >
<insert_const_block name="pr2_shoulder_pitch_collision"/>
</collision>
+ <map name="pr2_shoulder_pitch_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
@@ -1238,6 +1250,9 @@
<collision >
<insert_const_block name="pr2_upperarm_roll_collision"/>
</collision>
+ <map name="pr2_upperarm_roll_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="upperarm_roll_right"><!-- link specifying the shoulder of the robot -->
@@ -1256,6 +1271,9 @@
<collision >
<insert_const_block name="pr2_upperarm_roll_collision"/>
</collision>
+ <map name="pr2_upperarm_roll_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
@@ -1275,6 +1293,9 @@
<collision >
<insert_const_block name="pr2_elbow_flex_collision"/>
</collision>
+ <map name="pr2_elbow_flex_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="elbow_flex_right"><!-- link specifying the shoulder of the robot -->
@@ -1293,6 +1314,9 @@
<collision >
<insert_const_block name="pr2_elbow_flex_collision"/>
</collision>
+ <map name="pr2_elbow_flex_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="forearm_roll_left"><!-- link specifying the shoulder of the robot -->
@@ -1310,6 +1334,9 @@
<collision >
<insert_const_block name="pr2_forearm_roll_collision"/>
</collision>
+ <map name="pr2_forearm_roll_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="forearm_roll_right"><!-- link specifying the shoulder of the robot -->
@@ -1327,6 +1354,9 @@
<collision >
<insert_const_block name="pr2_forearm_roll_collision"/>
</collision>
+ <map name="pr2_forearm_roll_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="wrist_flex_left"><!-- link specifying the shoulder of the robot -->
@@ -1344,6 +1374,9 @@
<collision >
<insert_const_block name="pr2_wrist_flex_collision"/>
</collision>
+ <map name="pr2_wrist_flex_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="wrist_flex_right"><!-- link specifying the shoulder of the robot -->
@@ -1362,6 +1395,9 @@
<collision >
<insert_const_block name="pr2_wrist_flex_collision"/>
</collision>
+ <map name="pr2_wrist_flex_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="gripper_roll_left"><!-- link specifying the shoulder of the robot -->
@@ -1379,6 +1415,9 @@
<collision >
<insert_const_block name="pr2_gripper_roll_collision"/>
</collision>
+ <map name="pr2_gripper_roll_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<link name="gripper_roll_right"><!-- link specifying the shoulder of the robot -->
@@ -1397,6 +1436,9 @@
<collision >
<insert_const_block name="pr2_gripper_roll_collision"/>
</collision>
+ <map name="pr2_gripper_roll_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End arm definitions -->
@@ -1420,6 +1462,9 @@
<collision >
<insert_const_block name="pr2_finger_l_collision"/>
</collision>
+ <map name="finger_l_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End left hand l finger proximal digit definition -->
<!-- Begin left hand l finger tip (distal digit) definition -->
@@ -1439,6 +1484,9 @@
<collision >
<insert_const_block name="pr2_finger_tip_l_collision"/>
</collision>
+ <map name="finger_tip_l_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End left hand l finger tip (distal digit) definition -->
<!-- Begin left hand r finger proximal digit definition -->
@@ -1458,6 +1506,9 @@
<collision >
<insert_const_block name="pr2_finger_r_collision"/>
</collision>
+ <map name="finger_r_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End left hand r finger proximal digit definition -->
<!-- Begin left hand r finger tip (distal digit) definition -->
@@ -1477,6 +1528,9 @@
<collision >
<insert_const_block name="pr2_finger_tip_r_collision"/>
</collision>
+ <map name="finger_tip_r_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End left hand r finger tip (distal digit) definition -->
<!-- End left hand -->
@@ -1500,6 +1554,9 @@
<collision >
<insert_const_block name="pr2_finger_l_collision"/>
</collision>
+ <map name="finger_l_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End right hand l finger proximal digit definition -->
<!-- Begin right hand l finger tip (distal digit) definition -->
@@ -1519,6 +1576,9 @@
<collision >
<insert_const_block name="pr2_finger_tip_l_collision"/>
</collision>
+ <map name="finger_tip_l_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End right hand l finger tip (distal digit) definition -->
<!-- Begin right hand r finger proximal digit definition -->
@@ -1538,6 +1598,9 @@
<collision >
<insert_const_block name="pr2_finger_r_collision"/>
</collision>
+ <map name="finger_r_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End right hand r finger proximal digit definition -->
<!-- Begin right hand r finger tip (distal digit) definition -->
@@ -1557,6 +1620,9 @@
<collision >
<insert_const_block name="pr2_finger_tip_r_collision"/>
</collision>
+ <map name="finger_tip_r_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
</link>
<!-- End right hand r finger tip (distal digit) definition -->
<!-- End right hand -->
@@ -1770,6 +1836,9 @@
<!-- rotation of a local coordinate frame attached to the sensor with respect to the parent link's coordinate frame -->
<joint name="wrist_camera_left_joint" />
+ <map name="wrist_camera_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
<inertial>
<mass value="0.5" />
<com xyz=" 0.0 0.0 0.0 " /> <!-- position of the center of mass with respect to the sensor's local coordinate frame -->
@@ -1830,6 +1899,9 @@
<!-- rotation of a local coordinate frame attached to the sensor with respect to the parent link's coordinate frame -->
<joint name="wrist_camera_right_joint"/>
+ <map name="wrist_camera_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
<inertial>
<mass value="0.5" />
<com xyz=" 0.0 0.0 0.0 " /> <!-- position of the center of mass with respect to the sensor's local coordinate frame -->
@@ -1890,6 +1962,9 @@
<!-- rotation of a local coordinate frame attached to the sensor with respect to the parent link's coordinate frame -->
<joint name="forearm_camera_left_joint" />
+ <map name="forearm_camera_left_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
<inertial>
<mass value="0.5" />
<com xyz=" 0.0 0.0 0.0 " /> <!-- position of the center of mass with respect to the sensor's local coordinate frame -->
@@ -1944,6 +2019,9 @@
<!-- rotation of a local coordinate frame attached to the sensor with respect to the parent link's coordinate frame -->
<joint name="forearm_camera_right_joint" />
+ <map name="forearm_camera_right_gravity" flag="gazebo">
+ <elem key="turnGravityOff">true</elem>
+ </map>
<inertial>
<mass value="0.5" />
<com xyz=" 0.0 0.0 0.0 " /> <!-- position of the center of mass with respect to the sensor's local coordinate frame -->
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