[Personalrobots-commit] SF.net SVN: personalrobots:[5185] pkg/trunk

[<stu...@us...>]

Revision: 5185
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5185&view=rev
Author:   stuglaser
Date:     2008-10-09 00:21:46 +0000 (Thu, 09 Oct 2008)

Log Message:
-----------
Reprogrammed motor boards on the one-armed bandit, so the config and calibration code needed updating.

Modified Paths:
--------------
    pkg/trunk/manip/teleop_robot/scripts/calibrate.py
    pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/one_armed_bandit.xml
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/arm_defs.xml

Modified: pkg/trunk/manip/teleop_robot/scripts/calibrate.py
===================================================================
--- pkg/trunk/manip/teleop_robot/scripts/calibrate.py	2008-10-09 00:03:12 UTC (rev 5184)
+++ pkg/trunk/manip/teleop_robot/scripts/calibrate.py	2008-10-09 00:21:46 UTC (rev 5185)
@@ -36,6 +36,7 @@
 
 import rostools
 import copy
+import threading
 
 # Loads interface with the robot.
 rostools.update_path('teleop_robot')
@@ -93,10 +94,19 @@
     print "Calibrated"
 
 
+class FunThread(threading.Thread):
+    def __init__(self, fun, *args):
+        self.fun = fun
+        self.start()
+
+    def run():
+        self.fun(*args)
+
+
 calibrate_optically('''
 <controller name="cal_shoulder_pan" topic="cal_shoulder_pan" type="JointCalibrationControllerNode">
   <calibrate joint="shoulder_pan_right_joint"
-             actuator="shoulder_pan_right_act"
+             actuator="shoulder_pan_right_motor"
              transmission="shoulder_pan_right_trans"
              velocity="0.6" />
   <pid p="7" i="0.5" d="0" iClamp="1.0" />
@@ -106,8 +116,8 @@
 calibrate_optically('''
 <controller name="cal_shoulder_pitch" topic="cal_shoulder_pitch" type="JointCalibrationControllerNode">
   <calibrate joint="shoulder_pitch_right_joint"
-             actuator="shoulder_lift_right_act"
-             transmission="shoulder_lift_right_trans"
+             actuator="shoulder_pitch_right_motor"
+             transmission="shoulder_pitch_right_trans"
              velocity="0.6" />
   <pid p="7" i="0.5" d="0" iClamp="1.0" />
 </controller>
@@ -116,7 +126,7 @@
 calibrate_blindly('''
 <controller name="upperarm_calibration" topic="upperarm_calibration" type="JointBlindCalibrationControllerNode">
   <calibrate joint="upperarm_roll_right_joint"
-             actuator="upperarm_roll_right_act"
+             actuator="upperarm_roll_right_motor"
              transmission="upperarm_roll_right_trans"
              velocity="0.9" />
   <pid p="5" i="0.5" d="0" iClamp="1.0" />
@@ -126,9 +136,9 @@
 
 calibrate_blindly('''
 <controller name="cal_elbow" topic="cal_elbow" type="JointBlindCalibrationControllerNode">
-  <calibrate joint="elbow_right_joint"
-             actuator="elbow_right_act"
-             transmission="elbow_right_trans"
+  <calibrate joint="elbow_flex_right_joint"
+             actuator="elbow_flex_right_motor"
+             transmission="elbow_flex_right_trans"
              velocity="0.8" />
   <pid p="5" i="0.5" d="0" iClamp="1.0" />
 </controller>

Modified: pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/one_armed_bandit.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/one_armed_bandit.xml	2008-10-09 00:03:12 UTC (rev 5184)
+++ pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/one_armed_bandit.xml	2008-10-09 00:21:46 UTC (rev 5185)
@@ -17,12 +17,40 @@
   <include filename="../pr2/head_defs.xml" />
 
   <joint name="base_joint" type="planar" />
-
-  <link name="torso">
+  <link name="base">
     <parent name="world" />
-    <origin xyz="0 0 0.05" rpy="0 0 0" />
     <joint name="base_joint" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <inertial>
+      <mass value="1000" />
+      <com xyz=" 0 0 0 " />
+      <inertia ixx="10000"  ixy="0"  ixz="0" iyy="10000" iyz="0" izz="10000" />
+    </inertial>
 
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0 " />
+      <map name="gazebo_material" flag="gazebo">
+        <elem key="material">Gazebo/Red</elem>
+      </map>
+      <geometry name="pr2_base_mesh_file">
+        <mesh scale="1 1 0.01" />
+      </geometry>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0.0 0.0 0.0 " />
+      <geometry name="base_collision_geom">
+        <box size="1 1 0.01" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="torso_joint" type="fixed" />
+  <link name="torso">
+    <parent name="base" />
+    <origin xyz="0 0 0.5" rpy="0 0 0" />
+    <joint name="torso_joint" />
+
     <inertial>
       <mass value="1000" />
       <com xyz="0 0 0" />

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/arm_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/arm_defs.xml	2008-10-09 00:03:12 UTC (rev 5184)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/arm_defs.xml	2008-10-09 00:21:46 UTC (rev 5185)
@@ -242,7 +242,7 @@
     </link>
 
     <transmission type="SimpleTransmission" name="shoulder_pitch_${suffix}_trans">
-      <actuator name="shoulder_pitch_${suffix}_act" />
+      <actuator name="shoulder_pitch_${suffix}_motor" />
       <joint name="shoulder_pitch_${suffix}_joint" />
       <mechanicalReduction>57.36</mechanicalReduction>
     </transmission>


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