[Personalrobots-commit] SF.net SVN: personalrobots:[16456] pkg/trunk

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Revision: 16456
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16456&view=rev
Author:   hsujohnhsu
Date:     2009-05-30 05:44:53 +0000 (Sat, 30 May 2009)

Log Message:
-----------
fix test_slide case.  caught error with friction setting, see gazebo 7746.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
    pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world

Modified: pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml
===================================================================

--- pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml	2009-05-30 05:43:38 UTC (rev 16455)
+++ pkg/trunk/drivers/simulator/test_pr2_collision_gazebo/test_slide.xml	2009-05-30 05:44:53 UTC (rev 16456)
@@ -1,16 +1,15 @@
 <launch>
   <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/test/test_slide.world" respawn="false" output="screen">
     <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
-    <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+    <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description):$(find gazebo)/gazebo/share/gazebo" />
     <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
-    <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
   </node>
 
   <!-- send single_link.xml to param server -->
   <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find pr2_defs)/robots/pr2.xacro.xml'" />
 
   <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
-  <node pkg="gazebo_plugin" type="urdf2factory" args="/robotdesc/pr2 0 6 18 0 0 90" respawn="false" output="screen" /> <!-- load default arm controller -->
+  <node pkg="gazebo_plugin" type="urdf2factory" args="/robotdesc/pr2 0 6 18 0 -75 90" respawn="false" output="screen" /> <!-- load default arm controller -->
 
   <!-- load controllers -->
   <include file="$(find pr2_gazebo)/pr2_default_controllers.launch" />

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world	2009-05-30 05:43:38 UTC (rev 16455)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/test/test_slide.world	2009-05-30 05:44:53 UTC (rev 16456)
@@ -29,7 +29,7 @@
     <cfm>0.0000000001</cfm>
     <erp>0.2</erp>
     <quickStep>true</quickStep>
-    <quickStepIters>3</quickStepIters>
+    <quickStepIters>10</quickStepIters>
     <quickStepW>1.3</quickStepW>
   </physics:ode>
 
@@ -146,13 +146,14 @@
 
   <!-- The Slide-->
   <model:physical name="slide1_model">
+    <static>true</static>
     <xyz>   0.0    0.0    0.00</xyz>
     <rpy>   0.0    0.0    0.00</rpy>
     <body:box name="slide1_legs_body">
       <geom:box name="slide_base_geom">
         <mu1>0.0</mu1>
         <mu2>0.0</mu2>
-        <kp>10000000000.0</kp>
+        <kp>1000000000.0</kp>
         <kd>1.0</kd>
         <xyz>   0.0    5.0    13</xyz>
 
@@ -161,7 +162,7 @@
         <mass> 1000.0</mass>
         <visual>
           <size>2.0   14.14   1.0</size>
-          <material>Gazebo/Red</material>
+          <material>PR2/Red</material>
           <mesh>unit_box</mesh>
         </visual>
       </geom:box>
@@ -170,30 +171,30 @@
       <geom:box name="slide_side1_geom">
         <mu1>0.0</mu1>
         <mu2>0.0</mu2>
-        <kp>100000000.0</kp>
+        <kp>10000000000.0</kp>
         <kd>1.0</kd>
         <xyz>   1.0    5.0   13.7</xyz>
         <rpy> 135.0    0.0    0.00</rpy>
-        <size>  1.0    1.0   14.14</size>
+        <size>  0.1    1.0   14.14</size>
         <mass> 1000.0</mass>
         <visual>
           <size>0.1   1.0   14.14</size>
-          <material>Gazebo/Rocky</material>
+          <material>PR2/Green</material>
           <mesh>unit_box</mesh>
         </visual>
       </geom:box>
       <geom:box name="slide_side2_geom">
         <mu1>0.0</mu1>
         <mu2>0.0</mu2>
-        <kp>100000000.0</kp>
+        <kp>10000000000.0</kp>
         <kd>1.0</kd>
         <xyz>   -1.0    7.0  15.5</xyz>
         <rpy> 135.0    0.0    0.00</rpy>
-        <size>  1.0    1.0   10.0</size>
+        <size>  0.1    1.0   10.0</size>
         <mass> 1000.0</mass>
         <visual>
           <size>0.1    1.0    9.0</size>
-          <material>Gazebo/Rocky</material>
+          <material>PR2/Green</material>
           <mesh>unit_box</mesh>
         </visual>
       </geom:box>
@@ -201,7 +202,7 @@
 
 
       <geom:sphere name="slide_end_geom">
-        <kp>1000000.0</kp>
+        <kp>100000000.0</kp>
         <kd>1</kd>
         <mu1>0.0</mu1>
         <mu2>0.0</mu2>
@@ -211,7 +212,7 @@
         <mass> 1.0</mass>
         <visual>
           <size> 5.0 5.0 5.0</size>
-          <material>Gazebo/Rocky</material>
+          <material>PR2/Blue</material>
           <mesh>unit_sphere</mesh>
         </visual>
       </geom:sphere>
@@ -227,70 +228,6 @@
 
 
 
-      <geom:box name="support_1">
-        <kp>10000000.0</kp>
-        <kd>1</kd>
-        <mu1>1000.0</mu1>
-        <mu2>1000.0</mu2>
-        <xyz>1000.0 1000.0    1.00</xyz>
-        <rpy>   0.0    0.0    0.00</rpy>
-        <mesh>default</mesh>
-        <size>  1.0    1.0    2.0</size>
-        <mass> 10.0</mass>
-        <visual>
-          <size>1.0    1.0   2.0</size>
-          <material>Gazebo/Rocky</material>
-          <mesh>unit_box</mesh>
-        </visual>
-      </geom:box>
-      <geom:box name="support_2">
-        <kp>10000000.0</kp>
-        <kd>1</kd>
-        <mu1>1000.0</mu1>
-        <mu2>1000.0</mu2>
-        <xyz>1000.0 -1000.0    1.00</xyz>
-        <rpy>    0.0    0.0    0.00</rpy>
-        <mesh>default</mesh>
-        <size>  1.0    1.0    2.0</size>
-        <mass> 10.0</mass>
-        <visual>
-          <size>1.0    1.0    2.0</size>
-          <material>Gazebo/Rocky</material>
-          <mesh>unit_box</mesh>
-        </visual>
-      </geom:box>
-      <geom:box name="support_3">
-        <kp>10000000.0</kp>
-        <kd>1</kd>
-        <mu1>1000.0</mu1>
-        <mu2>1000.0</mu2>
-        <xyz>-1000.0 -1000.0    1.00</xyz>
-        <rpy>     0.0    0.0    0.00</rpy>
-        <mesh>default</mesh>
-        <size>  1.0    1.0    2.0</size>
-        <mass> 10.0</mass>
-        <visual>
-          <size>1.0    1.0    2.0</size>
-          <material>Gazebo/Rocky</material>
-          <mesh>unit_box</mesh>
-        </visual>
-      </geom:box>
-      <geom:box name="support_4">
-        <kp>10000000.0</kp>
-        <kd>1</kd>
-        <mu1>1000.0</mu1>
-        <mu2>1000.0</mu2>
-        <xyz>-1000.0  1000.0    1.00</xyz>
-        <rpy>    0.0     0.0    0.00</rpy>
-        <mesh>default</mesh>
-        <size>  1.0    1.0    2.0</size>
-        <mass> 10.0</mass>
-        <visual>
-          <size>1.0    1.0    2.0</size>
-          <material>Gazebo/Rocky</material>
-          <mesh>unit_box</mesh>
-        </visual>
-      </geom:box>
     </body:box>
   </model:physical>
 
@@ -303,8 +240,8 @@
       <geom:sphere name="ball_geom">
         <kp>100000.0</kp>
         <kd>1.0</kd>
-        <mu1>5.0</mu1>
-        <mu2>5.0</mu2>
+        <mu1>0.0</mu1>
+        <mu2>0.0</mu2>
         <mesh>default</mesh>
         <size> 0.25</size>
         <mass> 10.0</mass>


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