[Personalrobots-commit] SF.net SVN: personalrobots:[16693] pkg/trunk

[<is...@us...>]

Revision: 16693
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16693&view=rev
Author:   isucan
Date:     2009-06-04 00:28:18 +0000 (Thu, 04 Jun 2009)

Log Message:
-----------
yaml files to replace information from groups

Added Paths:
-----------
    pkg/trunk/motion_planning/planning_models/planning.yaml
    pkg/trunk/world_models/collision_space/collision_checks.yaml

Added: pkg/trunk/motion_planning/planning_models/planning.yaml
===================================================================
--- pkg/trunk/motion_planning/planning_models/planning.yaml	                        (rev 0)
+++ pkg/trunk/motion_planning/planning_models/planning.yaml	2009-06-04 00:28:18 UTC (rev 16693)
@@ -0,0 +1,74 @@
+## This file should be loaded under /planning
+
+## the list of groups for which motion planning can be performed
+group_list:
+  base
+  left_arm
+  right_arm
+  arms
+  base_left_arm
+  base_right_arm
+  base_arms
+
+## the definition of each group
+groups:
+
+  base:
+    links:
+      base_link
+    planner_configs:
+      RRTConfig1 SBLConfig1
+
+  left_arm:
+    links:
+      l_shoulder_pan_link
+      l_shoulder_lift_link
+      l_upper_arm_roll_link
+      l_upper_arm_link
+      l_elbow_flex_link
+      l_forearm_roll_link
+      l_forearm_link
+      l_wrist_flex_link
+      l_wrist_roll_link
+    planner_configs:
+      RRTConfig2 SBLConfig2
+
+  right_arm:
+    links:
+      r_shoulder_pan_link
+      r_shoulder_lift_link
+      r_upper_arm_roll_link
+      r_upper_arm_link
+      r_elbow_flex_link
+      r_forearm_roll_link
+      r_forearm_link
+      r_wrist_flex_link
+      r_wrist_roll_link
+    planner_configs:
+      RRTConfig2 SBLConfig2
+      
+## the planner configurations; each config must have a type, which specifies
+## the planner to be used; other parameters can be specified as well
+
+planner_configs:
+  
+  RRTConfig1:
+    type: RRT
+    range: 0.75
+
+  SBLConfig1:
+    type: SBL
+    projection: 0 1
+    celldim: 1 1
+    range: 0.5
+    
+  RRTConfig2:
+    type: RRT
+    range: 0.75
+
+  SBLConfig2:
+    type: SBL
+    projection: 5 6
+    celldim: 0.1 0.1
+  
+    
\ No newline at end of file

Added: pkg/trunk/world_models/collision_space/collision_checks.yaml
===================================================================
--- pkg/trunk/world_models/collision_space/collision_checks.yaml	                        (rev 0)
+++ pkg/trunk/world_models/collision_space/collision_checks.yaml	2009-06-04 00:28:18 UTC (rev 16693)
@@ -0,0 +1,76 @@
+## This file should be loaded under /collision
+
+
+## links for which collision checking with the environment should be performed
+collision_links:
+  base_link
+  torso_lift_link
+  head_pan_link
+  head_tilt_link
+  r_shoulder_pan_link
+  r_shoulder_lift_link
+  r_upper_arm_roll_link
+  r_upper_arm_link
+  r_elbow_flex_link
+  r_forearm_roll_link
+  r_forearm_link
+  r_wrist_flex_link
+  r_wrist_roll_link
+  r_gripper_palm_link
+  r_gripper_l_finger_link
+  r_gripper_r_finger_link
+  r_gripper_l_finger_tip_link
+  r_gripper_r_finger_tip_link
+
+## self collision is performed between groups of links, usually pairs  
+self_collision_groups: scg1 scg2 scg3 scg4 scg5 scg6
+
+scg1:
+  r_forearm_link
+  base_link
+
+scg2:
+  r_gripper_palm_link
+  base_link
+
+scg3:
+  r_gripper_l_finger_link
+  base_link
+
+scg4:
+  r_gripper_r_finger_link
+  base_link
+
+scg5:
+  r_gripper_l_finger_tip_link
+  base_link
+
+scg6:
+  r_gripper_r_finger_tip_link
+  base_link
+
+
+## list of links that the robot can see with its sensors (used to remove 
+## parts of the robot from scanned data)
+self_see:
+  l_upper_arm_roll_link
+  r_upper_arm_roll_link
+  l_elbow_flex_link
+  r_elbow_flex_link
+  l_forearm_roll_link
+  r_forearm_roll_link
+  l_wrist_flex_link
+  r_wrist_flex_link
+  l_wrist_roll_link
+  r_wrist_roll_link
+  l_gripper_l_finger_link
+  l_gripper_r_finger_link
+  r_gripper_l_finger_link
+  r_gripper_r_finger_link
+  r_shoulder_pan_link
+  r_shoulder_lift_link
+  l_shoulder_pan_link
+  l_shoulder_lift_link
+  torso_lift_link
+  base_link
+  


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