Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[16707] pkg/trunk
|
From: <is...@us...> - 2009-06-04 05:50:47
|
Revision: 16707
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16707&view=rev
Author: isucan
Date: 2009-06-04 05:50:45 +0000 (Thu, 04 Jun 2009)
Log Message:
-----------
moving files
Modified Paths:
--------------
pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
Added Paths:
-----------
pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml
pkg/trunk/motion_planning/ompl_planning/planning.yaml
Removed Paths:
-------------
pkg/trunk/motion_planning/planning_models/planning.yaml
pkg/trunk/world_models/collision_space/collision_checks.yaml
Added: pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml (rev 0)
+++ pkg/trunk/motion_planning/ompl_planning/collision_checks.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -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
+
Modified: pkg/trunk/motion_planning/ompl_planning/motion_planning.launch
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/motion_planning.launch 2009-06-04 05:14:50 UTC (rev 16706)
+++ pkg/trunk/motion_planning/ompl_planning/motion_planning.launch 2009-06-04 05:50:45 UTC (rev 16707)
@@ -1,7 +1,7 @@
<launch>
- <rosparam command="load" ns="planning" file="$(find planning_models)/planning.yaml" />
- <rosparam command="load" ns="collision" file="$(find collision_space)/collision.yaml" />
+ <rosparam command="load" ns="planning" file="$(find ompl_planning)/planning.yaml" />
+ <rosparam command="load" ns="collision" file="$(find ompl_planning)/collision_checks.yaml" />
<node pkg="ompl_planning" type="motion_planner" args="robot_description:=robotdesc/pr2 collision_map:=collision_map_buffer" respawn="true" output="screen">
<param name="refresh_interval_collision_map" type="double" value="0.0" />
<param name="refresh_interval_kinematic_state" type="double" value="0.0" />
Added: pkg/trunk/motion_planning/ompl_planning/planning.yaml
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/planning.yaml (rev 0)
+++ pkg/trunk/motion_planning/ompl_planning/planning.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -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
Deleted: pkg/trunk/motion_planning/planning_models/planning.yaml
===================================================================
--- pkg/trunk/motion_planning/planning_models/planning.yaml 2009-06-04 05:14:50 UTC (rev 16706)
+++ pkg/trunk/motion_planning/planning_models/planning.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -1,74 +0,0 @@
-## 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
Deleted: pkg/trunk/world_models/collision_space/collision_checks.yaml
===================================================================
--- pkg/trunk/world_models/collision_space/collision_checks.yaml 2009-06-04 05:14:50 UTC (rev 16706)
+++ pkg/trunk/world_models/collision_space/collision_checks.yaml 2009-06-04 05:50:45 UTC (rev 16707)
@@ -1,76 +0,0 @@
-## 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
-
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
