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[Personalrobots-commit] SF.net SVN: personalrobots:[8192] pkg/trunk
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From: <hsu...@us...> - 2008-12-16 20:07:09
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Revision: 8192
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8192&view=rev
Author: hsujohnhsu
Date: 2008-12-16 20:07:04 +0000 (Tue, 16 Dec 2008)
Log Message:
-----------
more updates to make gazebo stable due to mass changes.
Modified Paths:
--------------
pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml
pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml
pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/arm_defs.xml
Modified: pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml 2008-12-16 19:37:02 UTC (rev 8191)
+++ pkg/trunk/demos/arm_gazebo/l_arm_default_controller.xml 2008-12-16 20:07:04 UTC (rev 8192)
@@ -64,7 +64,7 @@
</controller>
<controller name="l_gripper_controller" topic="l_gripper_controller" type="JointPositionControllerNode">
<joint name="l_gripper_l_finger_joint">
- <pid p="1.0" d="0.0001" i="0.01" iClamp="0.1" />
+ <pid p="0.5" d="0.000001" i="0.001" iClamp="0.01" />
</joint>
</controller>
</controllers>
Modified: pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml 2008-12-16 19:37:02 UTC (rev 8191)
+++ pkg/trunk/demos/arm_gazebo/r_arm_default_controller.xml 2008-12-16 20:07:04 UTC (rev 8192)
@@ -64,7 +64,7 @@
</controller>
<controller name="r_gripper_controller" topic="r_gripper_controller" type="JointPositionControllerNode">
<joint name="r_gripper_l_finger_joint">
- <pid p="1.0" d="0.0001" i="0.01" iClamp="0.1" />
+ <pid p="0.5" d="0.000001" i="0.001" iClamp="0.01" />
</joint>
</controller>
</controllers>
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/arm_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/arm_defs.xml 2008-12-16 19:37:02 UTC (rev 8191)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2_robot_defs/arm_defs.xml 2008-12-16 20:07:04 UTC (rev 8192)
@@ -22,7 +22,7 @@
<limit effort="10" min="0" max="${gripper_max_angle}"
k_position="0" k_velocity="0"
safety_length_min="0.0" safety_length_max="0.0" />
- <joint_properties damping="0.5" />
+ <joint_properties damping="0.2" />
</joint>
<link name="${prefix}_l_finger_link">
@@ -69,6 +69,8 @@
</map>
<map name="${prefix}_l_finger_gravity" flag="gazebo">
<elem key="turnGravityOff">true</elem>
+ <elem key="kp">1000000.0</elem>
+ <elem key="kd">1.0</elem>
</map>
</link>
@@ -81,12 +83,12 @@
<limit effort="10" min="${-gripper_max_angle}" max="0"
k_position="0" k_velocity="0"
safety_length_min="0.0" safety_length_max="0.0" />
- <joint_properties damping="0.5" />
+ <joint_properties damping="0.2" />
<mimic name="${prefix}_l_finger_joint" mult="${-1}" offset="0"/>
<map name="${prefix}_r_finger_mimic" flag="gazebo">
- <elem key="mimicKp">12.0</elem>
+ <elem key="mimicKp">10.0</elem>
<elem key="mimicKd">0.0</elem>
- <elem key="mimicFMax">1000.0</elem>
+ <elem key="mimicFMax">100.0</elem> <!-- ode bug: this force is set for _l_finger_joint -->
</map>
</joint>
@@ -134,6 +136,8 @@
</map>
<map name="${prefix}_r_finger_gravity" flag="gazebo">
<elem key="turnGravityOff">true</elem>
+ <elem key="kp">1000000.0</elem>
+ <elem key="kd">1.0</elem>
</map>
</link>
@@ -146,10 +150,10 @@
<limit effort="10" min="${-gripper_max_angle}" max="0"
k_position="0" k_velocity="0"
safety_length_min="0.0" safety_length_max="0.0" />
- <joint_properties damping="0.02" />
+ <joint_properties damping="0.05" />
<mimic name="${prefix}_l_finger_joint" mult="-1" offset="0"/>
<map name="${prefix}_l_finger_tip_mimic" flag="gazebo">
- <elem key="mimicKp">8.0</elem>
+ <elem key="mimicKp">1.0</elem>
<elem key="mimicKd">0.0</elem>
<elem key="mimicFMax">100.0</elem>
</map>
@@ -199,6 +203,8 @@
</map>
<map name="${prefix}_l_finger_tip_gravity" flag="gazebo">
<elem key="turnGravityOff">true</elem>
+ <elem key="kp">1000000.0</elem>
+ <elem key="kd">1.0</elem>
</map>
</link>
@@ -211,10 +217,10 @@
<limit effort="10" min="0" max="${gripper_max_angle}"
k_position="0" k_velocity="0"
safety_length_min="0.0" safety_length_max="0.0" />
- <joint_properties damping="0.02" />
+ <joint_properties damping="0.05" />
<mimic name="${prefix}_l_finger_joint" mult="1" offset="0"/>
<map name="${prefix}_r_finger_tip_mimic" flag="gazebo">
- <elem key="mimicKp">8.0</elem>
+ <elem key="mimicKp">1.0</elem>
<elem key="mimicKd">0.0</elem>
<elem key="mimicFMax">100.0</elem>
</map>
@@ -264,6 +270,8 @@
</map>
<map name="${prefix}_r_finger_tip_gravity" flag="gazebo">
<elem key="turnGravityOff">true</elem>
+ <elem key="kp">1000000.0</elem>
+ <elem key="kd">1.0</elem>
</map>
</link>
@@ -890,11 +898,11 @@
<origin xyz="0 0 0" rpy="0 0 0" />
<joint name="${side}_wrist_roll_joint" />
<inertial>
- <mass value="0.001" />
+ <mass value="0.1" />
<com xyz="0 0 0" />
- <inertia ixx="0.0001" ixy="0" ixz="0"
- iyy="0.0001" iyz="0"
- izz="0.0001" />
+ <inertia ixx="0.01" ixy="0" ixz="0"
+ iyy="0.01" iyz="0"
+ izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
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