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[Personalrobots-commit] SF.net SVN: personalrobots:[6377] pkg/trunk
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From: <hsu...@us...> - 2008-11-07 16:59:47
|
Revision: 6377
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6377&view=rev
Author: hsujohnhsu
Date: 2008-11-07 16:59:35 +0000 (Fri, 07 Nov 2008)
Log Message:
-----------
* removed dependency on gazebo_joints xml's
* damping coefficients moved to joint_properties, parsed by initXml in joint.cpp and by URDF.cpp
* updates to gazebo_mechanism_control to use damping from jonint.h in mechanism_model
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp
pkg/trunk/mechanism/mechanism_model/src/joint.cpp
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/Makefile
pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/one_armed_bandit.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/controllers_gazebo.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/controllers_gazebo_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/pr2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm/pr2d2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm/pr2d2_tilt_laser.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo/controllers_gazebo_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo/controllers_gazebo_arm_headless.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/pr2_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/controllers_gazebo_prototype1.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/pr2_prototype1.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/arm_defs.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/base_defs.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/body_defs.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/head_defs.xml
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/gazebo/controllers_gazebo_single_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/single_link_test/pr2_single_link.xml
pkg/trunk/robot_descriptions/wg_robot_description_parser/include/urdf/URDF.h
pkg/trunk/robot_descriptions/wg_robot_description_parser/src/URDF.cpp
Added Paths:
-----------
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/groups_multi_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/transmissions_multi_link.xml
Removed Paths:
-------------
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_arm.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_d2.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_dual_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_multi_link.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_single_link.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2/gazebo/gazebo_joints.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm/gazebo_joints_d2.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_arm_test/gazebo/gazebo_joints_arm.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_prototype1/gazebo/gazebo_joints_prototype1.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/gazebo.xml
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/CMakeLists.txt 2008-11-07 16:59:35 UTC (rev 6377)
@@ -6,8 +6,8 @@
gensrv()
include_directories(srv/cpp)
-#add_definitions(-Wall -DNDEBUG -O3)
-set(ROS_BUILD_TYPE Release)
+add_definitions(-Wall -DNDEBUG -O3)
+#set(ROS_BUILD_TYPE Release)
rospack_add_library(Ros_Stereo_Camera src/Ros_Stereo_Camera.cc)
rospack_add_library(Ros_Camera src/Ros_Camera.cc)
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/gazebo_mechanism_control.h 2008-11-07 16:59:35 UTC (rev 6377)
@@ -149,26 +149,21 @@
mechanism::RobotState *fake_state_;
std::vector<gazebo::Joint*> joints_;
- // added for joint damping coefficients
- std::vector<double> joints_damping_;
- std::map<std::string,double> joints_damping_map_;
-
/*
* \brief read pr2.xml for actuators, and pass tinyxml node to mechanism control node's initXml.
*/
void ReadPr2Xml(XMLConfigNode *node);
/*
- * \brief read gazebo_joints.xml for joint damping and additional simulation parameters for joints
+ * \brief pointer to ros node
*/
- void ReadGazeboPhysics(XMLConfigNode *node);
+ ros::node *rosnode_;
/*
- * \brief pointer to ros node
+ * \brief tmp vars for performance checking
*/
- ros::node *rosnode_;
+ double wall_start, sim_start;
-
};
/** \} */
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_mechanism_control.cpp 2008-11-07 16:59:35 UTC (rev 6377)
@@ -69,6 +69,12 @@
printf("-------------------- starting node in Gazebo Mechanism Control \n");
}
+ if (getenv("CHECK_SPEEDUP"))
+ {
+ wall_start = Simulator::Instance()->GetWallTime();
+ sim_start = Simulator::Instance()->GetSimTime();
+ }
+
}
GazeboMechanismControl::~GazeboMechanismControl()
@@ -84,10 +90,6 @@
// Initializes the fake state (for running the transmissions backwards).
fake_state_ = new mechanism::RobotState(&mc_.model_, &hw_);
- // Get gazebo joint properties such as explicit damping coefficient, simulation specific.
- // Currently constructs a map of joint-name/damping-value pairs.
- ReadGazeboPhysics(node);
-
// The gazebo joints and mechanism joints should match up.
for (unsigned int i = 0; i < mc_.model_.joints_.size(); ++i)
{
@@ -105,18 +107,6 @@
joints_.push_back(NULL);
}
- // fill in gazebo joints / damping value pairs
- std::map<std::string,double>::iterator jt = joints_damping_map_.find(joint_name);
- if (jt!=joints_damping_map_.end())
- {
- joints_damping_.push_back(jt->second);
- //std::cout << "adding gazebo joint name (" << joint_name << ") with damping=" << jt->second << std::endl;
- }
- else
- {
- joints_damping_.push_back(0); // no damping
- //std::cout << "adding gazebo joint name (" << joint_name << ") with no damping." << std::endl;
- }
}
hw_.current_time_ = Simulator::Instance()->GetSimTime();
@@ -130,8 +120,16 @@
void GazeboMechanismControl::UpdateChild()
{
+ if (getenv("CHECK_SPEEDUP"))
+ {
+ double wall_elapsed = Simulator::Instance()->GetWallTime() - wall_start;
+ double sim_elapsed = Simulator::Instance()->GetSimTime() - sim_start;
+ std::cout << " real time: " << wall_elapsed
+ << " sim time: " << sim_elapsed
+ << " speed up: " << sim_elapsed / wall_elapsed
+ << std::endl;
+ }
assert(joints_.size() == fake_state_->joint_states_.size());
- assert(joints_.size() == joints_damping_.size());
//--------------------------------------------------
// Pushes out simulation state
@@ -201,11 +199,15 @@
switch (joints_[i]->GetType())
{
case Joint::HINGE:
- damping_force = joints_damping_[i] * ((HingeJoint*)joints_[i])->GetAngleRate();
+ //std::cout << " hinge joint name " << mc_.model_.joints_[i]->name_ << std::endl;
+ //std::cout << " check damping coef " << mc_.model_.joints_[i]->joint_damping_coefficient_ << std::endl;
+ damping_force = mc_.model_.joints_[i]->joint_damping_coefficient_ * ((HingeJoint*)joints_[i])->GetAngleRate();
((HingeJoint*)joints_[i])->SetTorque(effort - damping_force);
break;
case Joint::SLIDER:
- damping_force = joints_damping_[i] * ((SliderJoint*)joints_[i])->GetPositionRate();
+ //std::cout << " slider joint name " << mc_.model_.joints_[i]->name_ << std::endl;
+ //std::cout << " check damping coef " << mc_.model_.joints_[i]->joint_damping_coefficient_ << std::endl;
+ damping_force = mc_.model_.joints_[i]->joint_damping_coefficient_ * ((SliderJoint*)joints_[i])->GetPositionRate();
((SliderJoint*)joints_[i])->SetSliderForce(effort - damping_force);
break;
default:
@@ -283,56 +285,4 @@
mc_.state_->joint_states_[i].calibrated_ = true;
}
-void GazeboMechanismControl::ReadGazeboPhysics(XMLConfigNode *node)
-{
- XMLConfigNode *robot = node->GetChild("gazebo_physics");
- if (!robot)
- {
- fprintf(stderr, "Error loading gazebo_physics config: no robot element\n");
- return;
- }
-
- std::string filename = robot->GetFilename("filename", "", 1);
- printf("Loading %s\n", filename.c_str());
-
- TiXmlDocument doc(filename);
- if (!doc.LoadFile())
- {
- fprintf(stderr, "Error: Could not load the gazebo mechanism_control plugin's configuration file for gazebo physics: %s\n",
- filename.c_str());
- abort();
- }
- // Pulls out the list of joints used in the gazebo physics configuration.
- struct GetJoints : public TiXmlVisitor
- {
- std::map<const char*,double> joints;
- virtual bool VisitEnter(const TiXmlElement &elt, const TiXmlAttribute *)
- {
- if (elt.ValueStr() == std::string("joint") && elt.Attribute("name"))
- {
- double damp;
- //extract damping coefficient value
- if (elt.FirstChildElement("explicitDampingCoefficient"))
- //std::cout << "damp : " << elt.FirstChildElement("explicitDampingCoefficient")->GetText() << std::endl;
- damp = atof(elt.FirstChildElement("explicitDampingCoefficient")->GetText());
- else
- damp = 0;
-
- //std::cout << "inserting pair to map " << elt.Attribute("name") << " " << damp << std::endl;
- joints.insert(make_pair(elt.Attribute("name"),damp));
- }
- return true;
- }
- } get_joints;
- doc.RootElement()->Accept(&get_joints);
-
- // Copy the found joint/damping pairs into the class variable
- std::map<const char*,double>::iterator it;
- for (it = get_joints.joints.begin(); it != get_joints.joints.end(); ++it)
- {
- std::string *jn = new std::string((it->first));
- joints_damping_map_.insert(make_pair(*jn,it->second));
- }
-
-}
} // namespace gazebo
Modified: pkg/trunk/mechanism/mechanism_model/src/joint.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_model/src/joint.cpp 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/mechanism/mechanism_model/src/joint.cpp 2008-11-07 16:59:35 UTC (rev 6377)
@@ -190,26 +190,24 @@
}
}
- if (type_ == JOINT_ROTARY || type_ == JOINT_CONTINUOUS || type_ == JOINT_PRISMATIC)
+ // Parses out the joint properties, this is done for all joints as default
+ TiXmlElement *prop_el = elt->FirstChildElement("joint_properties");
+ if (!prop_el)
{
- // Parses out the joint properties
- TiXmlElement *prop_el = elt->FirstChildElement("joint_properties");
- if (!prop_el)
- {
- fprintf(stderr, "Warning: Joint \"%s\" did not specify any joint properties, default to 0.\n", name_.c_str());
- joint_damping_coefficient_ = 0.0;
- joint_friction_coefficient_ = 0.0;
- }
- else
- {
- double tmp_damping;
- double tmp_friction;
- if (prop_el->QueryDoubleAttribute("damping", &joint_damping_coefficient_) != TIXML_SUCCESS)
- fprintf(stderr,"damping is not specified\n");
- if (prop_el->QueryDoubleAttribute("friction", &joint_friction_coefficient_) != TIXML_SUCCESS)
- fprintf(stderr,"friction is not specified\n");
- }
+ fprintf(stderr, "Warning: Joint \"%s\" did not specify any joint properties, default to 0.\n", name_.c_str());
+ joint_damping_coefficient_ = 0.0;
+ joint_friction_coefficient_ = 0.0;
+ }
+ else
+ {
+ if (prop_el->QueryDoubleAttribute("damping", &joint_damping_coefficient_) != TIXML_SUCCESS)
+ fprintf(stderr,"damping is not specified\n");
+ if (prop_el->QueryDoubleAttribute("friction", &joint_friction_coefficient_) != TIXML_SUCCESS)
+ fprintf(stderr,"friction is not specified\n");
+ }
+ if (type_ == JOINT_ROTARY || type_ == JOINT_CONTINUOUS || type_ == JOINT_PRISMATIC)
+ {
// Parses out the joint axis
TiXmlElement *axis_el = elt->FirstChildElement("axis");
if (!axis_el)
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2/gazebo/gazebo_joints.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_arm.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_arm.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_arm.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_arm_test/gazebo/gazebo_joints_arm.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_d2.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_d2.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_d2.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_arm/gazebo_joints_d2.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_dual_link.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_dual_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -1 +0,0 @@
-link ../../wg_robot_description/dual_link_test/gazebo/gazebo_joints_dual_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_multi_link.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_multi_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -1 +0,0 @@
-link ../../wg_robot_description/multi_link_test/gazebo/gazebo_joints_multi_link.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_prototype1.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -1 +0,0 @@
-link ../../wg_robot_description/pr2_prototype1/gazebo/gazebo_joints_prototype1.xml
\ No newline at end of file
Deleted: pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_single_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_single_link.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/gazebo_joints_single_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -1 +0,0 @@
-link ../../wg_robot_description/single_link_test/gazebo/gazebo_joints_single_link.xml
\ No newline at end of file
Modified: pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/gazebo/controllers_gazebo_dual_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -14,8 +14,6 @@
<robot filename="pr2_dual_link.xml" />
- <gazebo_physics filename="gazebo_joints_dual_link.xml" /> <!-- for simulator/physics specific settigs -->
-
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_mechanism_control>
@@ -28,6 +26,18 @@
<verbatim key="controllers"> <!-- The key attribute is needed noly if multiple <xml> tags are in the same <map> tag -->
<!-- P3D for position groundtruth -->
+ <controller:P3D name="p3d_link1_controller" plugin="libP3D.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <bodyName>link1</bodyName>
+ <topicName>link1_pose</topicName>
+ <frameName>link1_frame</frameName>
+ <xyzOffsets>0 0 0.5</xyzOffsets> <!-- at pivot of link2 -->
+ <rpyOffsets>0 0 0.0</rpyOffsets>
+ <interface:position name="p3d_link1_position"/>
+ </controller:P3D>
+
+ <!-- P3D for position groundtruth -->
<controller:P3D name="p3d_link2_controller" plugin="libP3D.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/wg_robot_description/dual_link_test/pr2_dual_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -114,7 +114,6 @@
<!-- Define groups of links; a link may be part of multiple groups -->
<include>groups_dual_link.xml</include>
<!-- mechanism controls -->
- <include>actuators_dual_link.xml</include>
<include>transmissions_dual_link.xml</include>
</robot>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/controllers_gazebo_multi_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -14,8 +14,6 @@
<robot filename="pr2_multi_link.xml" />
- <gazebo_physics filename="gazebo_joints_multi_link.xml" /> <!-- for simulator/physics specific settigs -->
-
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_mechanism_control>
Added: pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/groups_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/groups_multi_link.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/groups_multi_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -0,0 +1 @@
+link ../groups_multi_link.xml
\ No newline at end of file
Property changes on: pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/groups_multi_link.xml
___________________________________________________________________
Added: svn:special
+ *
Added: pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/transmissions_multi_link.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/transmissions_multi_link.xml (rev 0)
+++ pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/transmissions_multi_link.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -0,0 +1 @@
+link ../transmissions_multi_link.xml
\ No newline at end of file
Property changes on: pkg/trunk/robot_descriptions/wg_robot_description/multi_link_test/gazebo/transmissions_multi_link.xml
___________________________________________________________________
Added: svn:special
+ *
Modified: pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/Makefile
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/Makefile 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/Makefile 2008-11-07 16:59:35 UTC (rev 6377)
@@ -7,7 +7,6 @@
$(XACRO) $^ > $^.expanded
$(URDF2GAZEBO) $^.expanded $@
$(RM) $^.expanded
- sed -e 's#gazebo_joints\.xml#../pr2_robot_defs/gazebo.xml#' < $@ > $@.temp
mv $@.temp $@
clean:
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 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/wg_robot_description/one_armed_bandit/one_armed_bandit.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -94,7 +94,6 @@
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<robot filename="pr2.xml" />
- <gazebo_physics filename="gazebo_joints.xml" />
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_mechanism_control>
</verbatim>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml 2008-11-07 11:20:11 UTC (rev 6376)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/backup/pr2.xml 2008-11-07 16:59:35 UTC (rev 6377)
@@ -5,9 +5,9 @@
<!-- Begin template definitions for ease of reuse -->
<const name="M_PI" value="3.14159" /> <!-- FIXME @todo needed to make M_PI interpreted correctly. -->
- <const name="robot_inital_position_x" value=" 0.0 " /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
- <const name="robot_inital_position_y" value=" 0.0 " /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
- <const name="robot_inital_position_z" value=" 0.0*(wheel_radius-base_caster_offset_z/2)/2 " /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
+ <const name="robot_inital_position_x" value="0.0" /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
+ <const name="robot_inital_position_y" value="0.0" /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
+ <const name="robot_inital_position_z" value="0.0*(wheel_radius-base_caster_offset_z/2)/2" /> <!-- keep 0 for now, because of hardcoded sensor/gripper positions in controllers.cml -->
<const name="wheel_clearance_offset" value="0.02" /> <!-- placement robot model origin so wheel are not under ground -->
<const name="base_size_x" value="0.65" /> <!-- for defining collision geometry -->
@@ -28,31 +28,31 @@
<const name="caster_size_z" value="0.013" /> <!-- for collision geometry -->
<const name="caster_collision_center_box_center_offset_z" value="0.07" />
- <const name="torso_size_x" value=".432 " /> <!-- for defining collision geometry -->
- <const name="torso_size_y" value=".620 " /> <!-- for defining collision geometry -->
- <const name="torso_size_z" value=".823 " /> <!-- for defining collision geometry -->
+ <const name="torso_size_x" value=".432" /> <!-- for defining collision geometry -->
+ <const name="torso_size_y" value=".620" /> <!-- for defining collision geometry -->
+ <const name="torso_size_z" value=".823" /> <!-- for defining collision geometry -->
- <const name="base_torso_offset_x" value="-0.05 " /> <!-- mp 20080801 -->
- <const name="base_torso_offset_z" value=" 0.739675" /> <!-- mp 20080801 this is the offset for home position: lowest spine setting -->
+ <const name="base_torso_offset_x" value="-0.05" /> <!-- mp 20080801 -->
+ <const name="base_torso_offset_z" value="0.739675" /> <!-- mp 20080801 this is the offset for home position: lowest spine setting -->
<const name="torso_center_box_center_offset_x" value="-.10" /> <!-- FIXME -->
<const name="torso_center_box_center_offset_z" value="-.50" /> <!-- FIXME -->
- <const name="torso_max_travel_range" value=" 0.396 " /> <!-- FIXME -->
+ <const name="torso_max_travel_range" value="0.396" /> <!-- FIXME -->
<const name="shoulder_pan_size_x" value="0.347" /> <!-- for defining collision geometry -->
<const name="shoulder_pan_size_y" value="0.254" /> <!-- for defining collision geometry -->
<const name="shoulder_pan_size_z" value="0.646" /> <!-- for defining collision geometry -->
- <const name="shoulder_pan_center_box_center_offset_x" value=" .05" />
+ <const name="shoulder_pan_center_box_center_offset_x" value=".05" />
<const name="shoulder_pan_center_box_center_offset_z" value="-.20" />
- <const name="shoulder_pan_min_limit" value="-M_PI/2 " /> <!-- FIXME -->
- <const name="shoulder_pan_max_limit" value="M_PI/2 " /> <!-- FIXME -->
+ <const name="shoulder_pan_min_limit" value="-M_PI/2" /> <!-- FIXME -->
+ <const name="shoulder_pan_max_limit" value="M_PI/2" /> <!-- FIXME -->
<const name="torso_shoulder_pan_offset_y" value="0.188" /> <!-- mp 20080801 -->
- <const name="shoulder_pitch_min_limit" value=" -0.6109 " />
- <const name="shoulder_pitch_max_limit" value=" 1.3090 " />
+ <const name="shoulder_pitch_min_limit" value="-0.6109" />
+ <const name="shoulder_pitch_max_limit" value="1.3090" />
<const name="shoulder_pitch_length" value="0.10" /> <!-- for defining collision geometry -->
<const name="shoulder_pitch_radius" value="0.12" /> <!-- for defining collision geometry -->
@@ -65,28 +65,28 @@
<const name="upperarm_roll_center_box_center_offset_x" value=".30" /> <!-- from origin of mesh to center of box-geom -->
- <const name="elbow_flex_min_limit" value=" -M_PI/2 " />
- <const name="elbow_flex_max_limit" value=" 0.8727 " />
+ <const name="elbow_flex_min_limit" value="-M_PI/2" />
+ <const name="elbow_flex_max_limit" value="0.8727" />
<const name="elbow_flex_length" value="0.08" /> <!-- for defining collision geometry -->
<const name="elbow_flex_radius" value="0.1" /> <!-- for defining collision geometry -->
<const name="upperarm_roll_elbow_flex_offset_x" value="0.4" /> <!-- mp 20080801 -->
<const name="upperarm_roll_min_limit" value="-2.3562" />
- <const name="upperarm_roll_max_limit" value=" 2.3562" />
+ <const name="upperarm_roll_max_limit" value="2.3562" />
<const name="forearm_roll_size_x" value="0.27" /> <!-- for defining collision geometry -->
<const name="forearm_roll_size_y" value="0.12" /> <!-- for defining collision geometry -->
<const name="forearm_roll_size_z" value="0.08" /> <!-- for defining collision geometry -->
- <const name="forearm_roll_center_box_center_offset_x" value=" 0.22 " /> <!-- FIXME -->
+ <const name="forearm_roll_center_box_center_offset_x" value="0.22" /> <!-- FIXME -->
<const name="elbow_roll_wrist_flex_offset_x" value="0.32025" /> <!-- mp 20080801 -->
- <const name="wrist_flex_radius" value="0.033 " /> <!-- for defining collision geometry -->
- <const name="wrist_flex_length" value="0.103 " /> <!-- for defining collision geometry -->
+ <const name="wrist_flex_radius" value="0.033" /> <!-- for defining collision geometry -->
+ <const name="wrist_flex_length" value="0.103" /> <!-- for defining collision geometry -->
- <const name="wrist_flex_min_limit" value=" -1 " />
- <const name="wrist_flex_max_limit" value=" 1 " />
+ <const name="wrist_flex_min_limit" value="-1" />
+ <const name="wrist_flex_max_limit" value="1" />
<const name="gripper_roll_size_x" value="0.11" /> <!-- for defining collision geometry -->
<const name="gripper_roll_size_y" value="0.10" /> <!-- for defining collision geometry -->
@@ -106,8 +106,8 @@
<const name="head_pan_size_z" value="0.137" /> <!-- for defining collision geometry -->
- <const name="head_tilt_min_limit" value=" -M_PI/6 " /> <!-- FIXME -->
- <const name="head_tilt_max_limit" value=" M_PI/3 " /> <!-- FIXME -->
+ <const name="head_tilt_min_limit" value="-M_PI/6" /> <!-- FIXME -->
+ <const name="head_tilt_max_limit" value="M_PI/3" /> <!-- FIXME -->
<const name="head_pan_head_tilt_offset_x" value="0.058" /> <!-- mp 20080801 -->
@@ -118,54 +118,54 @@
<!-- stereo camera -->
<const name="head_tilt_stereo_offset_x" value="0.0232" /> <!-- mp 20080801 -->
<const name="head_tilt_stereo_offset_z" value="0.0645" /> <!-- mp 20080801 -->
- <const name="stereo_size_x" value=" 0.005 " /> <!-- for definint visual and collision geometry -->
- <const name="stereo_size_y" value=" 0.010 " /> <!-- for definint visual and collision geometry -->
- <const name="stereo_size_z" value=" 0.005 " /> <!-- for definint visual and collision geometry -->
- <const name="stereo_center_box_center_offset_x" value=" 0.00 " /> <!-- from center of stereo to stereo mount point, which is provided above -->
- <const name="stereo_center_box_center_offset_z" value=" 0.05 " /> <!-- from center of stereo to stereo mount point, which is provided above -->
+ <const name="stereo_size_x" value="0.005" /> <!-- for definint visual and collision geometry -->
+ <const name="stereo_size_y" value="0.010" /> <!-- for definint visual and collision geometry -->
+ <const name="stereo_size_z" value="0.005" /> <!-- for definint visual and collision geometry -->
+ <const name="stereo_center_box_center_offset_x" value="0.00" /> <!-- from center of stereo to stereo mount point, which is provided above -->
+ <const name="stereo_center_box_center_offset_z" value="0.05" /> <!-- from center of stereo to stereo mount point, which is provided above -->
<!-- ptz cameras -->
- <const name="torso_ptz_pan_left_offset_x" value=" 0.0000" /> <!-- mp 20080801 -->
- <const name="torso_ptz_pan_left_offset_y" value=" 0.1975" /> <!-- mp 20080801 -->
- <const name="torso_ptz_pan_left_offset_z" value=" 0.2265" /> <!-- mp 20080801 -->
- <const name="torso_ptz_pan_right_offset_x" value=" 0.0000" /> <!-- mp 20080801 -->
+ <const name="torso_ptz_pan_left_offset_x" value="0.0000" /> <!-- mp 20080801 -->
+ <const name="torso_ptz_pan_left_offset_y" value="0.1975" /> <!-- mp 20080801 -->
+ <const name="torso_ptz_pan_left_offset_z" value="0.2265" /> <!-- mp 20080801 -->
+ <const name="torso_ptz_pan_right_offset_x" value="0.0000" /> <!-- mp 20080801 -->
<const name="torso_ptz_pan_right_offset_y" value="-0.1975" /> <!-- mp 20080801 -->
- <const name="torso_ptz_pan_right_offset_z" value=" 0.2265" /> <!-- mp 20080801 -->
+ <const name="torso_ptz_pan_right_offset_z" value="0.2265" /> <!-- mp 20080801 -->
- <const name="ptz_pan_ptz_tilt_left_offset_x" value=" 0.0000" /> <!-- FIXME -->
- <const name="ptz_pan_ptz_tilt_left_offset_y" value=" 0.0300" /> <!-- FIXME -->
- <const name="ptz_pan_ptz_tilt_left_offset_z" value=" 0.0000" /> <!-- FIXME -->
- <const name="ptz_pan_ptz_tilt_right_offset_x" value=" 0.0000" /> <!-- FIXME -->
+ <const name="ptz_pan_ptz_tilt_left_offset_x" value="0.0000" /> <!-- FIXME -->
+ <const name="ptz_pan_ptz_tilt_left_offset_y" value="0.0300" /> <!-- FIXME -->
+ <const name="ptz_pan_ptz_tilt_left_offset_z" value="0.0000" /> <!-- FIXME -->
+ <const name="ptz_pan_ptz_tilt_right_offset_x" value="0.0000" /> <!-- FIXME -->
<const name="ptz_pan_ptz_tilt_right_offset_y" value="-0.0300" /> <!-- FIXME -->
- <const name="ptz_pan_ptz_tilt_right_offset_z" value=" 0.0000" /> <!-- FIXME -->
+ <const name="ptz_pan_ptz_tilt_right_offset_z" value="0.0000" /> <!-- FIXME -->
- <const name="ptz_pan_min_limit" value=" -M_PI/2 " /> <!-- FIXME -->
- <const name="ptz_pan_max_limit" value=" M_PI/2 " /> <!-- FIXME -->
- <const name="ptz_tilt_min_limit" value=" -M_PI/2 " /> <!-- FIXME -->
- <const name="ptz_tilt_max_limit" value=" M_PI/2 " /> <!-- FIXME -->
+ <const name="ptz_pan_min_limit" value="-M_PI/2" /> <!-- FIXME -->
+ <const name="ptz_pan_max_limit" value="M_PI/2" /> <!-- FIXME -->
+ <const name="ptz_tilt_min_limit" value="-M_PI/2" /> <!-- FIXME -->
+ <const name="ptz_tilt_max_limit" value="M_PI/2" /> <!-- FIXME -->
- <const name="ptz_pan_radius" value=" 0.05 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_length" value=" 0.05 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_size_x" value=" 0.05 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_size_y" value=" 0.05 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_size_z" value=" 0.05 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_left_center_box_center_offset_x" value=" 0.00 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_left_center_box_center_offset_y" value=" 0.025 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_left_center_box_center_offset_z" value=" 0.00 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_right_center_box_center_offset_x" value=" 0.00 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_right_center_box_center_offset_y" value="-0.025 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_pan_right_center_box_center_offset_z" value=" 0.00 " /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_radius" value="0.05" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_length" value="0.05" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_size_x" value="0.05" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_size_y" value="0.05" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_size_z" value="0.05" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_left_center_box_center_offset_x" value="0.00" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_left_center_box_center_offset_y" value="0.025" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_left_center_box_center_offset_z" value="0.00" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_right_center_box_center_offset_x" value="0.00" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_right_center_box_center_offset_y" value="-0.025" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_pan_right_center_box_center_offset_z" value="0.00" /> <!-- for definint visual and collision geometry -->
- <const name="ptz_tilt_radius" value=" 0.03 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_tilt_length" value=" 0.03 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_tilt_size_x" value=" 0.03 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_tilt_size_y" value=" 0.03 " /> <!-- for definint visual and collision geometry -->
- <const name="ptz_tilt_size_z" value=" 0.03 " /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_tilt_radius" value="0.03" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_tilt_length" value="0.03" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_tilt_size_x" value="0.03" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_tilt_size_y" value="0.03" /> <!-- for definint visual and collision geometry -->
+ <const name="ptz_tilt_size_z" value="0.03" /> <!-- for definint visual and collision geometry -->
<!-- =========================== l finger proximal digit =========================== -->
- <const name="gripper_roll_finger_l_offset_x" value=" 0.07751" /> <!-- mp 20080801 -->
- <const name="gripper_roll_finger_l_offset_y" value=" 0.0100 " /> <!-- mp 20080801 -->
- <const name="gripper_roll_finger_l_offset_z" value=" 0.0000 " /> <!-- mp 20080801 -->
+ <const name="gripper_roll_finger_l_offset_x" value="0.07751" /> <!-- mp 20080801 -->
+ <const name="gripper_roll_finger_l_offset_y" value="0.0100" /> <!-- mp 20080801 -->
+ <const name="gripper_roll_finger_l_offset_z" value="0.0000" /> <!-- mp 20080801 -->
<const name="finger_l_size_x" value="0.131" /> <!-- for defining collision geometry -->
<const name="finger_l_size_y" value="0.056" /> <!-- for defining collision geometry -->
@@ -175,9 +175,9 @@
<!-- =========================== l finger tip (distal digit) =========================== -->
- <const name="finger_l_finger_tip_l_offset_x" value=" 0.0915 " /> <!-- mp 20080801 -->
- <const name="finger_l_finger_tip_l_offset_y" value=" 0.0000 " /> <!-- mp 20080801 -->
- <const name="finger_l_finger_tip_l_offset_z" value=" 0.0000 " /> <!-- mp 20080801 -->
+ <const name="finger_l_finger_tip_l_offset_x" value="0.0915" /> <!-- mp 20080801 -->
+ <const name="finger_l_finger_tip_l_offset_y" value="0.0000" /> <!-- mp 20080801 -->
+ <const name="finger_l_finger_tip_l_offset_z" value="0.0000" /> <!-- mp 20080801 -->
<const name="finger_tip_l_size_x" value="0.053" /> <!-- for defining collision geometry -->
<const name="finger_tip_l_size_y" value="0.040" /> <!-- for defining collision geometry -->
@@ -186,9 +186,9 @@
<const name="finger_tip_l_center_box_center_offset_y" value="0.00" /> <!-- FIXME -->
<!-- =========================== r finger proximal digit =========================== -->
- <const name="gripper_roll_finger_r_offset_x" value=" 0.07751" /> <!-- mp 20080801 -->
- <const name="gripper_roll_finger_r_offset_y" value="-0.0100 " /> <!-- mp 20080801 -->
- <const name="gripper_roll_finger_r_offset_z" value=" 0.0000 " /> <!-- mp 20080801 -->
+ <const name="gripper_roll_finger_r_offset_x" value="0.07751" /> <!-- mp 20080801 -->
+ <const name="gripper_roll_finger_r_offset_y" value="-0.0100" /> <!-- mp 20080801 -->
+ <const name="gripper_roll_finger_r_offset_z" value="0.0000" /> <!-- mp 20080801 -->
<const name="finger_r_size_x" value="0.131" /> <!-- for defining collision geometry -->
<const name="finger_r_size_y" value="0.056" /> <!-- for defining collision geometry -->
@@ -197,9 +197,9 @@
<const name="finger_r_center_box_center_offset_y" value="0.00" /> <!-- FIXME -->
<!-- =========================== r finger tip (distal digit) =========================== -->
- <const name="finger_r_finger_tip_r_offset_x" value=" 0.0915 " /> <!-- mp 20080801 -->
- <const name="finger_r_finger_tip_r_offset_y" value=" 0.0000 " /> <!-- mp 20080801 -->
- <const name="finger_r_finger_tip_r_offset_z" value=" 0.0000 " /> <!-- mp 20080801 -->
+ <const name="finger_r_finger_tip_r_offset_x" value="0.0915" /> <!-- mp 20080801 -->
+ <const name="finger_r_finger_tip_r_offset_y" value="0.0000" /> <!-- mp 20080801 -->
+ <const name="finger_r_finger_tip_r_offset_z" value="0.0000" /> <!-- mp 20080801 -->
<const name="finger_tip_r_size_x" value="0.053" /> <!-- for defining collision geometry -->
<const name="finger_tip_r_size_y" value="0.040" /> <!-- for defining collision geometry -->
@@ -224,18 +224,18 @@
<const name="base_laser_center_box_center_offset_z" value="0.12" /> <!-- FIXME -->
<const name="gripper_roll_camera_offset_x" value="0.05" /> <!-- this is a guess, please change me -->
- <const name="gripper_roll_camera_offset_y" value="0 " /> <!-- this is a guess, please change me -->
+ <const name="gripper_roll_camera_offset_y" value="0" /> <!-- this is a guess, please change me -->
<const name="gripper_roll_camera_offset_z" value="0.03" /> <!-- this is a guess, please change me -->
<const name="forearm_roll_camera_offset_x" value="0.10" /> <!-- this is a guess, please change me -->
- <const name="forearm_roll_camera_offset_y" value="0 " /> <!-- this is a guess, please change me -->
+ <const name="forearm_roll_camera_offset_y" value="0" /> <!-- this is a guess, please change me -->
<const name="forearm_roll_camera_offset_z" value="0.05" /> <!-- this is a guess, please change me -->
<!-- End constant dimensions -->
<const_block name="pr2_caster_visual">
- <origin xyz="0 0 0" rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="0 0 0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<map name="gazebo_material" flag="gazebo">
<elem key="material">Gazebo/Green</elem>
@@ -245,7 +245,7 @@
</geometry>
</const_block>
<const_block name="pr2_caster_collision">
- <origin xyz="0 0 caster_collision_center_box_center_offset_z" rpy="0.0 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 caster_collision_center_box_center_offset_z" rpy="0.0 0.0 0.0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<geometry name="caster_collision_geom"><!-- geometry specified using a simple geometric object -->
<box size="caster_size_x caster_size_y caster_size_z" />
@@ -253,20 +253,21 @@
</const_block>
<const_block name="pr2_caster_inertial">
<mass value="3.473082" />
- <com xyz=" 0 0 0 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <com xyz="0 0 0" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943" />
</const_block>
<const_block name="pr2_caster_joint">
- <axis xyz=" 0 0 1 " /> <!-- direction of the joint in the local coordinate frame -->
+ <axis xyz="0 0 1" /> <!-- direction of the joint in the local coordinate frame -->
<anchor xyz="0 0 0" /> <!-- point on the joint relative to the local coordinate frame -->
- <calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
+ <calibration values="1.5 -1" /> <!-- Calibration stop/flag indicating location and then direction -->
<limit effort="100" velocity="5" />
+ <joint_properties damping="1.0" friction="0.0" />
</const_block>
<const_block name="pr2_wheel_left_visual">
- <origin xyz="0 0 0" rpy="0.0 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="0.0 0.0 0.0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<map name="gazebo_material" flag="gazebo">
<elem key="material">PR2/wheel_left</elem>
@@ -277,7 +278,7 @@
</const_block>
<const_block name="pr2_wheel_right_visual">
- <origin xyz="0 0 0" rpy="0.0 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="0.0 0.0 0.0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<map name="gazebo_material" flag="gazebo">
<elem key="material">PR2/wheel_right</elem>
@@ -288,7 +289,7 @@
</const_block>
<const_block name="pr2_wheel_collision">
- <origin xyz="0 0 0" rpy="M_PI/2 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="M_PI/2 0.0 0.0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<geometry name="pr2_wheel_collision_geom"><!-- geometry specified using a simple geometric object -->
<cylinder radius="wheel_radius" length="wheel_length" />
@@ -303,40 +304,42 @@
<const_block name="pr2_wheel_inertial">
<mass value="0.44036" />
- <com xyz=" 0 0 0 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <com xyz="0 0 0" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943" />
</const_block>
<const_block name="pr2_wheel_joint">
- <axis xyz=" 0 1 0 " /> <!-- direction of the joint in the local coordinate frame -->
+ <axis xyz="0 1 0" /> <!-- direction of the joint in the local coordinate frame -->
<anchor xyz="0 0 0" /> <!-- point on the joint relative to the local coordinate frame -->
<limit effort="100" velocity="5" />
- <calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
+ <calibration values="1.5 -1" /> <!-- Calibration stop/flag indicating location and then direction -->
+ <joint_properties damping="0.0" friction="0.0" />
</const_block>
<const_block name="pr2_shoulder_pan_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 -->
+ <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 min="shoulder_pan_min_limit" max="shoulder_pan_max_limit" effort="100" velocity="5" />
- <calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
+ <calibration values="1.5 -1" /> <!-- Calibration stop/flag indicating location and then direction -->
+ <joint_properties damping="10.0" friction="0.0" />
</const_block>
<const_block name="pr2_shoulder_pan_inertial">
<mass value="16.29553" />
- <com xyz=" -0.005215 -0.030552 0.0 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <com xyz="-0.005215 -0.030552 0.0" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
<inertia ixx="0.793291393007" ixy="0.003412032973" ixz="0.0096614481" iyy="0.818419457224" iyz="-0.033999499551" izz="0.13915007406" />
</const_block>
<const_block name="pr2_shoulder_pan_collision">
- <origin xyz="shoulder_pan_center_box_center_offset_x 0 shoulder_pan_center_box_center_offset_z" rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="shoulder_pan_center_box_center_offset_x 0 shoulder_pan_center_box_center_offset_z" rpy="0 0 0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<geometry name="pr2_shoulder_pan_collision_box_geom">
- <box size=" shoulder_pan_size_x shoulder_pan_size_y shoulder_pan_size_z" />
+ <box size="shoulder_pan_size_x shoulder_pan_size_y shoulder_pan_size_z" />
</geometry>
</const_block>
<const_block name="pr2_shoulder_pan_visual">
- <origin xyz="0 0 0 " rpy="0 0 0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="0 0 0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<map name="gazebo_material" flag="gazebo">
<elem key="material">Gazebo/Blue</elem>
@@ -347,20 +350,21 @@
</const_block>
<const_block name="pr2_shoulder_pitch_joint">
- <axis xyz=" 0 1 0 " /> <!-- 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 min=" shoulder_pitch_min_limit" max="shoulder_pitch_max_limit" effort="1000" velocity="5" />
- <calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
+ <axis xyz="0 1 0" /> <!-- 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 min="shoulder_pitch_min_limit" max="shoulder_pitch_max_limit" effort="1000" velocity="5" />
+ <calibration values="1.5 -1" /> <!-- Calibration stop/flag indicating location and then direction -->
+ <joint_properties damping="100.0" friction="0.0" />
</const_block>
<const_block name="pr2_shoulder_pitch_inertial">
<mass value="2.41223" />
- <com xyz=" -0.035895 0.014422 -0.0028263" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <com xyz="-0.035895 0.014422 -0.0028263" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
<inertia ixx="0.016640333585" ixy="0.002696462583" ixz="0.001337742275" iyy="0.017232603914" iyz="-0.003605106514" izz="0.018723553425" />
</const_block>
<const_block name="pr2_shoulder_pitch_collision">
- <origin xyz="0 0 0" rpy="M_PI/2 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="M_PI/2 0.0 0.0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<geometry name="pr2_shoulder_pitch_collision_geom">
<cylinder radius="shoulder_pitch_radius" length="shoulder_pitch_length" />
@@ -368,7 +372,7 @@
</const_block>
<const_block name="pr2_shoulder_pitch_visual">
- <origin xyz="0 0 0 " rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="0 0 0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<map name="gazebo_material" flag="gazebo">
<elem key="material">Gazebo/Grey</elem>
@@ -379,28 +383,29 @@
</const_block>
<const_block name="pr2_upperarm_roll_joint">
- <axis xyz=" 1 0 0 " /> <!-- 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 min=" upperarm_roll_min_limit" max="upperarm_roll_max_limit" effort="100" velocity="5" />
- <calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
+ <axis xyz="1 0 0" /> <!-- 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 min="upperarm_roll_min_limit" max="upperarm_roll_max_limit" effort="100" velocity="5" />
+ <calibration values="1.5 -1" /> <!-- Calibration stop/flag indicating location and then direction -->
+ <joint_properties damping="1.0" friction="0.0" />
</const_block>
<const_block name="pr2_upperarm_roll_inertial">
<mass value="4.9481" />
- <com xyz=" 0.21227 0.001205 -0.016293 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame --> <!-- FIXME John switched x and z for now -->
+ <com xyz="0.21227 0.001205 -0.016293" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame --> <!-- FIXME John switched x and z for now -->
<inertia ixx="10.0" ixy="0.000547745916" ixz="0.000119476885" iyy="1.0" iyz="0.001544932307" izz="1.0" />
</const_block>
<const_block name="pr2_upperarm_roll_collision">
- <origin xyz="upperarm_roll_center_box_center_offset_x 0 0" rpy="0.0 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="upperarm_roll_center_box_center_offset_x 0 0" rpy="0.0 0.0 0.0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<geometry name="pr2_upperarm_roll_collision_geom">
- <box size=" upperarm_roll_size_x upperarm_roll_size_y upperarm_roll_size_z " />
+ <box size="upperarm_roll_size_x upperarm_roll_size_y upperarm_roll_size_z" />
</geometry>
</const_block>
<const_block name="pr2_upperarm_roll_visual">
- <origin xyz="0 0 0" rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="0 0 0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<map name="gazebo_material" flag="gazebo">
<elem key="material">Gazebo/Green</elem>
@@ -411,20 +416,21 @@
</const_block>
<const_block name="pr2_elbow_flex_joint">
- <axis xyz=" 0 1 0 " /> <!-- 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 min=" elbow_flex_min_limit" max="elbow_flex_max_limit" effort="1000" velocity="5" />
- <calibration values="1.5 -1 " /> <!-- Calibration stop/flag indicating location and then direction -->
+ <axis xyz="0 1 0" /> <!-- 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 min="elbow_flex_min_limit" max="elbow_flex_max_limit" effort="1000" velocity="5" />
+ <calibration values="1.5 -1" /> <!-- Calibration stop/flag indicating location and then direction -->
+ <joint_properties damping="10.0" friction="0.0" />
</const_block>
<const_block name="pr2_elbow_flex_inertial">
<mass value="1.689246" />
- <com xyz=" -0.011638 0.013173 0.001228 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
+ <com xyz="-0.011638 0.013173 0.001228" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame -->
<inertia ixx="10.0" ixy="0.000292046674" ixz="-0.000077359282" iyy="1.0" iyz="-0.000001162155" izz="1.0" />
</const_block>
<const_block name="pr2_elbow_flex_collision">
- <origin xyz="0 0 0 " rpy="M_PI/2 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="M_PI/2 0.0 0.0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<geometry name="elbow_flex_collision_geom">
<cylinder radius="elbow_flex_radius" length="elbow_flex_length" />
@@ -432,7 +438,7 @@
</const_block>
<const_block name="pr2_elbow_flex_visual">
- <origin xyz="0 0 0 " rpy="0 0 0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="0 0 0" rpy="0 0 0" /> <!-- location defined with respect to the link origin in a local coordinate frame -->
<!-- All angles always in radians, yaw about Z axis, pitch about the Y axis and roll about the X axis -->
<map name="gazebo_material" flag="gazebo">
<elem key="material">Gazebo/Grey</elem>
@@ -443,28 +449,29 @@
</const_block>
<const_block name="pr2_forearm_roll_joint">
- <axis xyz=" 1 0 0 " /> <!-- 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 -->
+ <axis xyz="1 0 0" /> <!-- 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 -->
+ <calibration values="1.5 -1" /> <!-- Calibration stop/flag indicating location and then direction -->
+ <joint_properties damping="1.0" friction="0.0" />
</const_block>
<const_block name="pr2_forearm_roll_inertial">
<mass value="1.804155" />
- <com xyz=" 0.179474 -0.000058 0.013779 " /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame --> <!-- FIXME John switched x and z for now-->
+ <com xyz="0.179474 -0.000058 0.013779" /> <!-- position of the center of mass with respect to the link's own anchor in a local coordinate frame --> <!-- FIXME John switched x and z for now-->
<inertia ixx="10.0" ixy="-0.000003671102" ixz="0.000029379389" iyy="1.0" iyz="-0.000427679042" izz="1.0" />
</const_block>
<const_block name="pr2_forearm_roll_collision">
- <origin xyz="forearm_roll_center_box_center_offset_x 0 0 " rpy="0.0 0.0 0.0 " /> <!-- location defined with respect to the link origin in a local coordinate frame -->
+ <origin xyz="forearm_roll_center_box_center_offset_x 0 0" rpy="0.0 0.0 0.0" /> <!-- location defined with respect to the link origin i...
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