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[Personalrobots-commit] SF.net SVN: personalrobots:[4076] pkg/trunk
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From: <hsu...@us...> - 2008-09-09 02:49:22
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Revision: 4076
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4076&view=rev
Author: hsujohnhsu
Date: 2008-09-09 02:49:31 +0000 (Tue, 09 Sep 2008)
Log Message:
-----------
updates to make pr2_arm_test work as well. (no <limit> tag == no joint added to model_).
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_arm_test.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo_joints_arm_test.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/transmissions_arm_test.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_tjh.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/transmissions_arm_test.xml
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/controllers_gazebo_single_link.xml
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/test_actuators.cpp 2008-09-09 02:49:31 UTC (rev 4076)
@@ -256,6 +256,7 @@
// add a link to the mechanism control joint
gj->fake_joint_state_ = fake_state_->getJointState(*joint_name);
+ if (gj->fake_joint_state_==NULL) {std::cout << " no joint name found in joint state " << *joint_name << std::endl; abort();}; // make sure no NULL fake_joint_state_
// read gazebo specific joint properties
gj->saturationTorque = jNode->GetDouble("saturationTorque",0.0,0);
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_arm_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_arm_test.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_arm_test.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -48,10 +48,10 @@
</joint>
</controller>
</controller>
- <!-- Special gripper joint -->
- <controller name="gripper_left_controller" topic="gripper_left_controller" type="JointPositionControllerNode">
- <joint name="gripper_left_joint">
- <pid p="1" d="0" i="0" iClamp="0" />
+ <!-- Special gripper joint -->
+ <controller name="gripper_left_controller" topic="gripper_left_controller" type="JointPositionControllerNode">
+ <joint name="finger_l_left_joint">
+ <pid p="10" d="0" i="0" iClamp="0" />
<gripper_defaults effortLimit="100" velocityLimit="10" />
</joint>
</controller>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -17,7 +17,6 @@
<robot_filename>pr2_arm_test.xml</robot_filename>
<controller_filename>controllers_arm_test.xml</controller_filename>
<actuator_filename>actuators_arm_test.xml</actuator_filename>
- <transmission_filename>transmissions_arm_test.xml</transmission_filename>
<interface:audio name="test_actuators_dummy_iface" />
</controller:test_actuators>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test_headless.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/controllers_gazebo_arm_test_headless.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -17,7 +17,6 @@
<robot_filename>pr2_arm_test.xml</robot_filename>
<controller_filename>controllers_arm_test.xml</controller_filename>
<actuator_filename>actuators_arm_test.xml</actuator_filename>
- <transmission_filename>transmissions_arm_test.xml</transmission_filename>
<interface:audio name="test_actuators_dummy_iface" />
</controller:test_actuators>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo_joints_arm_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo_joints_arm_test.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo_joints_arm_test.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -30,14 +30,25 @@
<explicitDampingCoefficient>0.1</explicitDampingCoefficient>
</joint>
<!-- Special gripper joint -->
- <joint name="gripper_left_joint" gripper_controller="gripper_left_controller" abstract="gripper" effortLimit="1000" velocityLimit="100">
+ <joint name="finger_l_left_joint" gripper_controller="gripper_left_controller" abstract="gripper" effortLimit="1000" velocityLimit="100">
<saturationTorque>100</saturationTorque>
<explicitDampingCoefficient>0.1</explicitDampingCoefficient>
- <left_proximal>finger_l_left_joint</left_proximal>
- <left_distal>finger_tip_l_left_joint</left_distal>
- <right_proximal>finger_r_left_joint</right_proximal>
- <right_distal>finger_tip_r_left_joint</right_distal>
</joint>
+ <joint name="finger_r_left_joint" gripper_controller="gripper_left_controller" abstract="gripper" effortLimit="1000" velocityLimit="100">
+ <saturationTorque>100</saturationTorque>
+ <explicitDampingCoefficient>0.1</explicitDampingCoefficient>
+ </joint>
+ <joint name="finger_tip_l_left_joint" gripper_controller="gripper_left_controller" abstract="gripper" effortLimit="1000" velocityLimit="100">
+ <saturationTorque>100</saturationTorque>
+ <explicitDampingCoefficient>0.1</explicitDampingCoefficient>
+ </joint>
+
+ <joint name="finger_tip_r_left_joint" gripper_controller="gripper_left_controller" abstract="gripper" effortLimit="1000" velocityLimit="100">
+ <saturationTorque>100</saturationTorque>
+ <explicitDampingCoefficient>0.1</explicitDampingCoefficient>
+ </joint>
+
+
</robot>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -414,6 +414,7 @@
<const_block name="pr2_finger_r_joint">
<axis xyz=" 0 0 1 " /> <!-- direction of the joint in a global coordinate frame -->
<anchor xyz="0 0 0 " /> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit effort="100" velocity="5" />
<calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
</const_block>
@@ -447,6 +448,7 @@
<const_block name="pr2_finger_tip_r_joint">
<axis xyz=" 0 0 1 " /> <!-- direction of the joint in a global coordinate frame -->
<anchor xyz="0 0 0 " /> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit effort="100" velocity="5" />
<calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
</const_block>
@@ -943,13 +945,13 @@
<include>groups_arm_test.xml</include>
+
+ <!-- new definitions for mechanism controls - JMH -->
+ <include>controllers_arm_test.xml</include>
+ <include>actuators_arm_test.xml</include>
+ <include>transmissions_arm_test.xml</include>
+
<!-- controllers for gazebo -->
<include>controllers_gazebo_arm_test.xml</include>
-
- <!-- new definitions for mechanism controls - JMH -->
- <!--
- <include>controllers.xml</include>
- <include>actuators.xml</include>
- <include>transmissions.xml</include>
- -->
+
</robot>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test_headless.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm_test_headless.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -414,6 +414,7 @@
<const_block name="pr2_finger_r_joint">
<axis xyz=" 0 0 1 " /> <!-- direction of the joint in a global coordinate frame -->
<anchor xyz="0 0 0 " /> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit effort="100" velocity="5" />
<calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
</const_block>
@@ -447,6 +448,7 @@
<const_block name="pr2_finger_tip_r_joint">
<axis xyz=" 0 0 1 " /> <!-- direction of the joint in a global coordinate frame -->
<anchor xyz="0 0 0 " /> <!-- point on the joint relative to the parent's anchor in a global coordinate frame -->
+ <limit effort="100" velocity="5" />
<calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
</const_block>
@@ -943,13 +945,12 @@
<include>groups_arm_test.xml</include>
+ <!-- new definitions for mechanism controls - JMH -->
+ <include>controllers_arm_test.xml</include>
+ <include>actuators_arm_test.xml</include>
+ <include>transmissions_arm_test.xml</include>
+
<!-- controllers for gazebo -->
<include>controllers_gazebo_arm_test_headless.xml</include>
- <!-- new definitions for mechanism controls - JMH -->
- <!--
- <include>controllers.xml</include>
- <include>actuators.xml</include>
- <include>transmissions.xml</include>
- -->
</robot>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/transmissions_arm_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/transmissions_arm_test.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/transmissions_arm_test.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -56,10 +56,13 @@
</transmission>
<!-- fingers share a single motor -->
- <transmission type="SimpleTransmission" name="gripper_left_trans">
+ <transmission type="GripperTransmission" name="gripper_left_trans">
<actuator name="gripper_left_motor" />
- <joint name="gripper_left_joint" />
- <mechanicalReduction>1</mechanicalReduction>
+ <joint name="finger_r_left_joint" reduction="-1.0" />
+ <joint name="finger_tip_r_left_joint" reduction="1.0" />
+ <joint name="finger_l_left_joint" reduction="1.0" />
+ <joint name="finger_tip_l_left_joint" reduction="-1.0" />
+ <pid p="0.10" i="0.0" d="0.005" iClamp="0.5" />
<motorTorqueConstant>1</motorTorqueConstant>
<pulsesPerRevolution>90000</pulsesPerRevolution>
</transmission>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_headless.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_headless.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_headless.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -17,7 +17,6 @@
<robot_filename>pr2_arm_test_tjh.xml</robot_filename>
<controller_filename>controllers_arm_test_tjh.xml</controller_filename>
<actuator_filename>actuators_arm_test.xml</actuator_filename>
- <transmission_filename>transmissions_arm_test.xml</transmission_filename>
<interface:audio name="test_actuators_dummy_iface" />
</controller:test_actuators>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_tjh.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_tjh.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/controllers_gazebo_arm_test_tjh.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -17,7 +17,6 @@
<robot_filename>pr2_arm_test_tjh.xml</robot_filename>
<controller_filename>controllers_arm_test_tjh.xml</controller_filename>
<actuator_filename>actuators_arm_test.xml</actuator_filename>
- <transmission_filename>transmissions_arm_test.xml</transmission_filename>
<interface:audio name="test_actuators_dummy_iface" />
</controller:test_actuators>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/transmissions_arm_test.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/transmissions_arm_test.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test_tjh/transmissions_arm_test.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -56,10 +56,13 @@
</transmission>
<!-- fingers share a single motor -->
- <transmission type="SimpleTransmission" name="gripper_left_trans">
+ <transmission type="GripperTransmission" name="gripper_left_trans">
<actuator name="gripper_left_motor" />
- <joint name="gripper_left_joint" />
- <mechanicalReduction>1</mechanicalReduction>
+ <joint name="finger_r_left_joint" reduction="-1.0" />
+ <joint name="finger_tip_r_left_joint" reduction="1.0" />
+ <joint name="finger_l_left_joint" reduction="1.0" />
+ <joint name="finger_tip_l_left_joint" reduction="-1.0" />
+ <pid p="0.10" i="0.0" d="0.005" iClamp="0.5" />
<motorTorqueConstant>1</motorTorqueConstant>
<pulsesPerRevolution>90000</pulsesPerRevolution>
</transmission>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/controllers_gazebo_single_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/controllers_gazebo_single_link.xml 2008-09-09 02:32:59 UTC (rev 4075)
+++ pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/controllers_gazebo_single_link.xml 2008-09-09 02:49:31 UTC (rev 4076)
@@ -17,7 +17,6 @@
<robot_filename>pr2_single_link.xml</robot_filename>
<controller_filename>controllers_single_link.xml</controller_filename>
<actuator_filename>actuators_single_link.xml</actuator_filename>
- <transmission_filename>transmissions_single_link.xml</transmission_filename>
<interface:audio name="test_actuators_dummy_iface" />
</controller:test_actuators>
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