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[Personalrobots-commit] SF.net SVN: personalrobots:[10929] pkg/trunk
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From: <hsu...@us...> - 2009-02-10 19:48:19
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Revision: 10929
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10929&view=rev
Author: hsujohnhsu
Date: 2009-02-10 19:48:16 +0000 (Tue, 10 Feb 2009)
Log Message:
-----------
typo fix in arm_defs.
gripper_defs dummy comment change.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/arm_defs.xml
pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/gripper_defs.xml
Modified: pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py 2009-02-10 19:39:33 UTC (rev 10928)
+++ pkg/trunk/drivers/simulator/test_pr2_mechanism_controllers_gazebo/test_arm.py 2009-02-10 19:48:16 UTC (rev 10929)
@@ -69,21 +69,22 @@
TEST_TIMEOUT = 50.0
# pre-recorded poses for above commands
-TARGET_ARM_TX = 0.697079458962
-TARGET_ARM_TY = 0.298321990173
-TARGET_ARM_TZ = 0.788284959682
-TARGET_ARM_QX = 0.237303684388
-TARGET_ARM_QY = -0.183131139797
-TARGET_ARM_QZ = 0.190090503477
-TARGET_ARM_QW = 0.934887986606
-TARGET_GRIPPER_TX = 0.759604836385
-TARGET_GRIPPER_TY = 0.327703622909
-TARGET_GRIPPER_TZ = 0.825872564018
-TARGET_GRIPPER_QX = 0.201779841484
-TARGET_GRIPPER_QY = -0.221575348589
-TARGET_GRIPPER_QZ = 0.349992333295
-TARGET_GRIPPER_QW = 0.88752162064
+TARGET_PALM_TX = 0.707932405635
+TARGET_PALM_TY = 0.302486634619
+TARGET_PALM_TZ = 0.784961973515
+TARGET_PALM_QX = 0.237333965585
+TARGET_PALM_QY = -0.182954011269
+TARGET_PALM_QZ = 0.190066678152
+TARGET_PALM_QW = 0.934919823513
+TARGET_FNGR_TX = 0.770409128528
+TARGET_FNGR_TY = 0.332355930864
+TARGET_FNGR_TZ = 0.822766287069
+TARGET_FNGR_QX = 0.201867284399
+TARGET_FNGR_QY = -0.221524091779
+TARGET_FNGR_QZ = 0.349958602096
+TARGET_FNGR_QW = 0.887527832279
+
class ArmTest(unittest.TestCase):
def __init__(self, *args):
super(ArmTest, self).__init__(*args)
@@ -113,15 +114,15 @@
def fngrP3dInput(self, p3d):
i = 0
- pos_error = abs(p3d.pos.position.x - TARGET_GRIPPER_TX) + \
- abs(p3d.pos.position.y - TARGET_GRIPPER_TY) + \
- abs(p3d.pos.position.z - TARGET_GRIPPER_TZ)
+ pos_error = abs(p3d.pos.position.x - TARGET_FNGR_TX) + \
+ abs(p3d.pos.position.y - TARGET_FNGR_TY) + \
+ abs(p3d.pos.position.z - TARGET_FNGR_TZ)
#target pose rotation matrix
- target_rm = rotation_matrix_from_quaternion([TARGET_GRIPPER_QX \
- ,TARGET_GRIPPER_QY \
- ,TARGET_GRIPPER_QZ \
- ,TARGET_GRIPPER_QW])
+ target_rm = rotation_matrix_from_quaternion([TARGET_FNGR_QX \
+ ,TARGET_FNGR_QY \
+ ,TARGET_FNGR_QZ \
+ ,TARGET_FNGR_QW])
#p3d pose quaternion
p3d_q = [p3d.pos.orientation.x \
@@ -157,15 +158,15 @@
def palmP3dInput(self, p3d):
i = 0
- pos_error = abs(p3d.pos.position.x - TARGET_ARM_TX) + \
- abs(p3d.pos.position.y - TARGET_ARM_TY) + \
- abs(p3d.pos.position.z - TARGET_ARM_TZ)
+ pos_error = abs(p3d.pos.position.x - TARGET_PALM_TX) + \
+ abs(p3d.pos.position.y - TARGET_PALM_TY) + \
+ abs(p3d.pos.position.z - TARGET_PALM_TZ)
#target pose rotation matrix
- target_rm = rotation_matrix_from_quaternion([TARGET_ARM_QX \
- ,TARGET_ARM_QY \
- ,TARGET_ARM_QZ \
- ,TARGET_ARM_QW])
+ target_rm = rotation_matrix_from_quaternion([TARGET_PALM_QX \
+ ,TARGET_PALM_QY \
+ ,TARGET_PALM_QZ \
+ ,TARGET_PALM_QW])
#p3d pose quaternion
p3d_q = [p3d.pos.orientation.x \
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/arm_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/arm_defs.xml 2009-02-10 19:39:33 UTC (rev 10928)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/arm_defs.xml 2009-02-10 19:48:16 UTC (rev 10929)
@@ -288,7 +288,7 @@
<inertial>
<mass value="1.90327" />
- <com xyz="0.01014.00032 -0.01211" />
+ <com xyz="0.01014 0.00032 -0.01211" />
<inertia ixx="0.00346541989" ixy="0.00004066825" ixz="0.00043171614"
iyy="0.00441606455" iyz="-0.00003968914"
izz="0.00359156824" />
Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/gripper_defs.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/gripper_defs.xml 2009-02-10 19:39:33 UTC (rev 10928)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/defs/gripper_defs.xml 2009-02-10 19:48:16 UTC (rev 10929)
@@ -471,7 +471,7 @@
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
- <geometry name="${side}_gripper_dummy">
+ <geometry name="${side}_gripper_collision_dummy">
<box size="0.1 0.1 0.1" />
</geometry>
</collision>
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