[Personalrobots-commit] SF.net SVN: personalrobots:[5186] pkg/trunk

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

Revision: 5186
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5186&view=rev
Author:   stuglaser
Date:     2008-10-09 00:53:12 +0000 (Thu, 09 Oct 2008)

Log Message:
-----------
Placed the torso and laser in the proper locations for the one-armed bandit.

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
    pkg/trunk/robot_descriptions/wg_robot_description/pr2/head_defs.xml

Modified: pkg/trunk/manip/teleop_robot/scripts/calibrate.py
===================================================================
--- pkg/trunk/manip/teleop_robot/scripts/calibrate.py	2008-10-09 00:21:46 UTC (rev 5185)
+++ pkg/trunk/manip/teleop_robot/scripts/calibrate.py	2008-10-09 00:53:12 UTC (rev 5186)
@@ -144,3 +144,13 @@
 </controller>
 
 ''')
+
+calibrate_optically('''
+<controller name="cal_laser_tilt" topic="cal_laser_tilt" type="JointCalibrationControllerNode">
+  <calibrate joint="tilt_laser_mount_joint"
+             actuator="tilt_laser_motor"
+             transmission="tilt_laser_mount_trans"
+             velocity="-0.6" />
+  <pid p=".25" i="0.1" 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 00:21:46 UTC (rev 5185)
+++ pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/one_armed_bandit.xml	2008-10-09 00:53:12 UTC (rev 5186)
@@ -48,7 +48,7 @@
   <joint name="torso_joint" type="fixed" />
   <link name="torso">
     <parent name="base" />
-    <origin xyz="0 0 0.5" rpy="0 0 0" />
+    <origin xyz="0 0 1.0414" rpy="0 0 0" />
     <joint name="torso_joint" />
 
     <inertial>
@@ -63,7 +63,7 @@
         <elem key="material">Gazebo/Red</elem>
       </map>
       <geometry name="pr2_base_mesh_file">
-        <mesh scale="1 1 0.01" />
+        <mesh filename="torso" />
       </geometry>
     </visual>
 
@@ -75,9 +75,11 @@
     </collision>
   </link>
 
-  <pr2_upperarm suffix="right" reflect="-1" parent="torso" />
+  <pr2_upperarm suffix="right" reflect="-1" parent="torso">
+    <origin xyz="0 -0.188 0" rpy="0 0 0" />
+  </pr2_upperarm>
   <tilting_hokuyo name="tilt_laser" parent="torso">
-    <origin xyz="0.1 0.1 1.15" rpy="0 0 0" />
+    <origin xyz="0.0635 0.01905 0.2413" rpy="0 0 0" />
   </tilting_hokuyo>
 
 

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 00:21:46 UTC (rev 5185)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/arm_defs.xml	2008-10-09 00:53:12 UTC (rev 5186)
@@ -154,7 +154,7 @@
 
 
 
-  <macro name="pr2_upperarm" params="suffix parent reflect">
+  <macro name="pr2_upperarm" params="suffix parent reflect *origin">
 
     <!-- Shoulder pan -->
 
@@ -169,7 +169,7 @@
 
     <link name="shoulder_pan_${suffix}">
       <parent name="${parent}" />
-      <origin xyz="0 ${reflect*0.188} 0" rpy="0 0 0" />
+      <insert_block name="origin" />
       <joint name="shoulder_pan_${suffix}_joint" />
       <inertial>
         <mass value="16.29553" />
@@ -352,8 +352,10 @@
   </macro>
 
 
-  <macro name="pr2_arm" params="suffix parent reflect">
-    <pr2_upperarm suffix="${suffix}" reflect="${reflect}" parent="${parent}" />
+  <macro name="pr2_arm" params="suffix parent reflect *origin">
+    <pr2_upperarm suffix="${suffix}" reflect="${reflect}" parent="${parent}">
+      <insert_block name="origin" />
+    </pr2_upperarm>
     <pr2_forearm suffix="${suffix}" reflect="${reflect}" parent="elbow_flex_${suffix}" />
   </macro>
 

Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/head_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/head_defs.xml	2008-10-09 00:21:46 UTC (rev 5185)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/head_defs.xml	2008-10-09 00:53:12 UTC (rev 5186)
@@ -9,7 +9,7 @@
       <axis xyz="0 1 0" />
       <anchor xyz="0 0 0" />
       <limit min="-0.785" max="1.48" effort="0.5292" velocity="1256.0" />
-      <calibration reference_position="-0.35" values="0 0" />
+      <calibration reference_position="-0.28" values="0 0" />
     </joint>
 
     <link name="${name}_mount"> 


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