[Personalrobots-commit] SF.net SVN: personalrobots:[18373] pkg/trunk

[<hsu...@us...>]

Revision: 18373
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18373&view=rev
Author:   hsujohnhsu
Date:     2009-07-07 02:08:53 +0000 (Tue, 07 Jul 2009)

Log Message:
-----------
added cup to grasping example.

Modified Paths:
--------------
    pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
    pkg/trunk/demos/arm_gazebo/scripts/grasp_preprogrammed.py
    pkg/trunk/demos/examples_gazebo/table_defs/Makefile
    pkg/trunk/demos/pr2_gazebo/coffee_cup.launch
    pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model

Modified: pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch
===================================================================
--- pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch	2009-07-07 02:03:32 UTC (rev 18372)
+++ pkg/trunk/demos/arm_gazebo/r_arm_grasping_demo.launch	2009-07-07 02:08:53 UTC (rev 18373)
@@ -40,5 +40,6 @@
   <param name="robotdesc/table" command="$(find xacro)/xacro.py '$(find examples_gazebo)/table_defs/table_defs.xml'" />
   <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/table 0 0 0.01 0 0 0 table_model" respawn="false" output="screen" />
 
+  <include file="$(find pr2_gazebo)/coffee_cup.launch" />
 </launch>
 

Modified: pkg/trunk/demos/arm_gazebo/scripts/grasp_preprogrammed.py
===================================================================
--- pkg/trunk/demos/arm_gazebo/scripts/grasp_preprogrammed.py	2009-07-07 02:03:32 UTC (rev 18372)
+++ pkg/trunk/demos/arm_gazebo/scripts/grasp_preprogrammed.py	2009-07-07 02:08:53 UTC (rev 18373)
@@ -58,7 +58,7 @@
 CMD_POS_5      =  0.0
 CMD_POS_6      =  0.0
 CMD_POS_7      =  0.0
-LOWER_Z        =  0.2
+LOWER_Z        =  0.1
 PAN_RAD        =  0.5
 G_OPEN         =  0.058;
 G_CLOSE        =  0.0199;

Modified: pkg/trunk/demos/examples_gazebo/table_defs/Makefile
===================================================================
--- pkg/trunk/demos/examples_gazebo/table_defs/Makefile	2009-07-07 02:03:32 UTC (rev 18372)
+++ pkg/trunk/demos/examples_gazebo/table_defs/Makefile	2009-07-07 02:08:53 UTC (rev 18373)
@@ -1,14 +1,14 @@
 XACRO = `rospack find xacro`/xacro.py
-URDF2GAZEBO = `rospack find gazebo_robot_description`/urdf2gazebo
-MODEL_FILE = `rospack find gazebo_robot_description`
+URDF2GAZEBO = `rospack find gazebo_plugin`/bin/urdf2file
+MODEL_DIR = `pwd`
 
 ROBOT = table
 
 $(ROBOT).model: $(ROBOT).xml
 	$(XACRO) $^ > $^.expanded
-	$(URDF2GAZEBO) $^.expanded $(MODEL_FILE)/$@
+	$(URDF2GAZEBO) $^.expanded $(MODEL_DIR)/$@
 
 clean:
-	$(RM) $(ROBOT).xml.expanded $(MODEL_FILE)/$(ROBOT).model
+	$(RM) $(ROBOT).xml.expanded $(MODEL_DIR)/$(ROBOT).model
 	$(RM) core.* Ogre.log
 

Modified: pkg/trunk/demos/pr2_gazebo/coffee_cup.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/coffee_cup.launch	2009-07-07 02:03:32 UTC (rev 18372)
+++ pkg/trunk/demos/pr2_gazebo/coffee_cup.launch	2009-07-07 02:08:53 UTC (rev 18373)
@@ -4,7 +4,7 @@
   <param name="coffee_cup"      textfile="$(find gazebo_robot_description)/gazebo_objects/coffee_cup.model" />
 
   <!-- push urdf to factory and spawn robot in gazebo -->
-  <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 1 -.2 .84  0 0 0 coffee_cup" respawn="false" output="screen" />
+  <node pkg="gazebo_plugin" type="xml2factory" args="coffee_cup 1 -0.22 .84  0 0 0 coffee_cup" respawn="false" output="screen" />
 
 </launch>
 

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model	2009-07-07 02:03:32 UTC (rev 18372)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/coffee_cup.model	2009-07-07 02:08:53 UTC (rev 18373)
@@ -5,7 +5,7 @@
   <rpy>   0.0    0.0    0.0</rpy>
   <body:trimesh name="cup1_body">
     <xyz>   0.0    0.0    0.009</xyz>
-    <rpy>  90.0    0.0  180.0</rpy>
+    <rpy>  90.0    0.0   90.0</rpy>
     <massMatrix>true</massMatrix> 
     <mass>1.0</mass>
     <ixx>0.01</ixx>
@@ -17,10 +17,10 @@
     <cx>0.0</cx>
     <cy>0.0</cy>
     <cz>0.0</cz>
-
+    <dampingFactor>0.05</dampingFactor>
     <geom:trimesh name="cup1_geom">
       <laserRetro>2000.0</laserRetro>
-      <kp>1000000.0</kp>
+      <kp>100000000.0</kp>
       <kd>1.0</kd>
       <scale>0.1 0.1 0.1</scale>
       <mesh>cup.mesh</mesh>


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