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[Personalrobots-commit] SF.net SVN: personalrobots:[18444] pkg/trunk
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From: <hsu...@us...> - 2009-07-08 04:59:13
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Revision: 18444
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18444&view=rev
Author: hsujohnhsu
Date: 2009-07-08 00:26:45 +0000 (Wed, 08 Jul 2009)
Log Message:
-----------
rest of the files for pr2 and ikea cups demo.
Modified Paths:
--------------
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/000.580.67.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/001.327.79.model
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk3.model
pkg/trunk/robot_descriptions/ikea_objects/CMakeLists.txt
pkg/trunk/stacks/pr2/pr2_ogre/CMakeLists.txt
Added Paths:
-----------
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/701.330.68.model
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/000.580.67.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/000.580.67.model 2009-07-08 00:11:42 UTC (rev 18443)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/000.580.67.model 2009-07-08 00:26:45 UTC (rev 18444)
@@ -1,34 +1,34 @@
<?xml version="1.0" ?>
-<model:physical name="wine_cup">
+<model:physical name="000_580_67">
<xyz> 0 0 0</xyz>
<rpy> 0.0 0.0 0.0</rpy>
- <static>true</static>
- <body:trimesh name="wine_cup_body">
- <geom:trimesh name="wine_cup_geom">
+ <static>false</static>
+ <body:trimesh name="000_580_67_body">
+
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>0.1</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.1</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.1</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.05</cz>
+
+ <geom:trimesh name="000_580_67_geom">
<xyz>0 0 0</xyz>
<laserRetro>2000.0</laserRetro>
<kp>1000000.0</kp>
<kd>1.0</kd>
- <scale>0.005 0.005 0.005</scale>
- <mesh>ikea_objects/000.580.67.ply_convex.stl.mesh</mesh>
-
- <massMatrix>true</massMatrix>
- <mass>0.1</mass>
- <ixx>0.01</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.01</iyy>
- <iyz>0.0</iyz>
- <izz>0.001</izz>
- <cx>0.0</cx>
- <cy>0.0</cy>
- <cz>0.0</cz>
-
+ <scale>0.001 0.001 0.001</scale>
+ <mesh>ikea_objects/000.580.67.obj.stlb.mesh</mesh>
<visual>
<xyz>0 0 0.0</xyz>
- <size>0.45 0.45 1.030</size>
+ <size>0.09 0.09 0.206</size>
<material>PR2/White</material>
- <mesh>ikea_objects/000.580.67.ply_convex.stl.mesh</mesh>
+ <mesh>ikea_objects/000.580.67.obj.stlb.mesh</mesh>
</visual>
</geom:trimesh>
</body:trimesh>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/001.327.79.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/001.327.79.model 2009-07-08 00:11:42 UTC (rev 18443)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/001.327.79.model 2009-07-08 00:26:45 UTC (rev 18444)
@@ -1,34 +1,34 @@
<?xml version="1.0" ?>
-<model:physical name="bowl_cup">
+<model:physical name="001_327_79">
<xyz> 0 0 0</xyz>
<rpy> 0.0 0.0 0.0</rpy>
- <static>true</static>
- <body:trimesh name="bowl_cup_body">
- <geom:trimesh name="bowl_cup_geom">
+ <static>false</static>
+ <body:trimesh name="001_327_79_body">
+
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>0.1</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.1</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.1</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.05</cz>
+
+ <geom:trimesh name="001_327_79_geom">
<xyz>0 0 0</xyz>
<laserRetro>2000.0</laserRetro>
<kp>1000000.0</kp>
<kd>1.0</kd>
- <scale>0.005 0.005 0.005</scale>
- <mesh>ikea_objects/001.172.98.ply_convex.stl.mesh</mesh>
-
- <massMatrix>true</massMatrix>
- <mass>0.1</mass>
- <ixx>0.01</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>0.01</iyy>
- <iyz>0.0</iyz>
- <izz>0.001</izz>
- <cx>0.0</cx>
- <cy>0.0</cy>
- <cz>0.0</cz>
-
+ <scale>0.001 0.001 0.001</scale>
+ <mesh>ikea_objects/001.327.79.obj.stlb.mesh</mesh>
<visual>
<xyz>0 0 0.0</xyz>
- <size>0.48 0.48 0.565</size>
+ <size>0.0816 0.0816 0.113</size>
<material>PR2/Green</material>
- <mesh>ikea_objects/001.172.98.ply_convex.stl.mesh</mesh>
+ <mesh>ikea_objects/001.327.79.obj.stlb.mesh</mesh>
</visual>
</geom:trimesh>
</body:trimesh>
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/701.330.68.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/701.330.68.model (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/701.330.68.model 2009-07-08 00:26:45 UTC (rev 18444)
@@ -0,0 +1,38 @@
+<?xml version="1.0" ?>
+<model:physical name="701_330_68">
+ <xyz> 0 0 0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>false</static>
+ <body:trimesh name="701_330_68_body">
+
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>0.1</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.1</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.1</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.05</cz>
+
+ <geom:trimesh name="701_330_68_geom">
+ <xyz>0 0 0</xyz>
+ <laserRetro>2000.0</laserRetro>
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <scale>0.001 0.001 0.001</scale>
+ <mesh>ikea_objects/701.330.68.obj.stlb.mesh</mesh>
+ <visual>
+ <xyz>0 0 0.0</xyz>
+ <size>0.09 0.09 0.206</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>ikea_objects/701.330.68.obj.stlb.mesh</mesh>
+ </visual>
+ </geom:trimesh>
+ </body:trimesh>
+</model:physical>
+
+
+
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk3.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk3.model 2009-07-08 00:11:42 UTC (rev 18443)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_objects/desk3.model 2009-07-08 00:26:45 UTC (rev 18444)
@@ -3,129 +3,86 @@
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
<body:box name="desk3">
- <xyz>0 0 0.3</xyz>
+ <xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
+
+ <massMatrix>true</massMatrix>
+ <mass>10.0</mass>
+ <ixx>0.1</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0.1</iyy>
+ <iyz>0</iyz>
+ <izz>0.1</izz>
+ <cx>0</cx>
+ <cy>0</cy>
+ <cz>0</cz>
<geom:box name="desk3top_geom">
- <kp>100000000.0</kp>
+ <kp>1000000.0</kp>
<kd>1.0</kd>
- <xyz>0 0 0.6</xyz>
+ <xyz>0 0 0.5</xyz>
<rpy>0 0 0</rpy>
- <massMatrix>true</massMatrix>
- <mass>10.0</mass>
- <ixx>1.0</ixx>
- <ixy>0</ixy>
- <ixz>0</ixz>
- <iyy>1.0</iyy>
- <iyz>0</iyz>
- <izz>1.0</izz>
- <cx>0</cx>
- <cy>0</cy>
- <cz>0</cz>
<size>0.8 2.0 0.10</size>
<visual>
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
<scale>0.8 2.0 0.10</scale>
<mesh>unit_box</mesh>
- <material>Gazebo/Green</material>
+ <material>Gazebo/LightWood</material>
</visual>
</geom:box>
<geom:box name="desk3leg1_geom">
- <kp>100000000.0</kp>
+ <kp>1000000.0</kp>
<kd>1.0</kd>
- <xyz>-0.3 -0.8 .3</xyz>
+ <xyz>-0.3 -0.8 0.25</xyz>
<rpy>0 0 0</rpy>
- <massMatrix>true</massMatrix>
- <mass>10.0</mass>
- <ixx>1.0</ixx>
- <ixy>0</ixy>
- <ixz>0</ixz>
- <iyy>1.0</iyy>
- <iyz>0</iyz>
- <izz>1.0</izz>
- <cx>0</cx>
- <cy>0</cy>
- <cz>0</cz>
- <size>0.05 0.05 0.6</size>
+ <size>0.05 0.05 0.5</size>
<visual>
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
- <scale>0.05 0.05 0.6</scale>
+ <scale>0.05 0.05 0.5</scale>
<mesh>unit_box</mesh>
<material>Gazebo/Red</material>
</visual>
</geom:box>
<geom:box name="desk3leg2_geom">
- <kp>100000000.0</kp>
+ <kp>1000000.0</kp>
<kd>1.0</kd>
- <xyz>0.3 -0.8 .3</xyz>
+ <xyz>0.3 -0.8 0.25</xyz>
<rpy>0 0 0</rpy>
- <massMatrix>true</massMatrix>
- <mass>10.0</mass>
- <ixx>1.0</ixx>
- <ixy>0</ixy>
- <ixz>0</ixz>
- <iyy>1.0</iyy>
- <iyz>0</iyz>
- <izz>1.0</izz>
- <cx>0</cx>
- <cy>0</cy>
- <cz>0</cz>
- <size>0.05 0.05 0.6</size>
+ <size>0.05 0.05 0.5</size>
<visual>
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
- <scale>0.05 0.05 0.6</scale>
+ <scale>0.05 0.05 0.5</scale>
<mesh>unit_box</mesh>
<material>Gazebo/Red</material>
</visual>
</geom:box>
<geom:box name="desk3leg3_geom">
- <kp>100000000.0</kp>
+ <kp>1000000.0</kp>
<kd>1.0</kd>
- <xyz>-0.3 0.8 .3</xyz>
+ <xyz>-0.3 0.8 0.25</xyz>
<rpy>0 0 0</rpy>
- <massMatrix>true</massMatrix>
- <mass>10.0</mass>
- <ixx>1.0</ixx>
- <ixy>0</ixy>
- <ixz>0</ixz>
- <iyy>1.0</iyy>
- <iyz>0</iyz>
- <izz>1.0</izz>
- <cx>0</cx>
- <cy>0</cy>
- <cz>0</cz>
- <size>0.05 0.05 0.6</size>
+ <size>0.05 0.05 0.5</size>
<visual>
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
- <scale>0.05 0.05 0.6</scale>
+ <scale>0.05 0.05 0.5</scale>
<mesh>unit_box</mesh>
<material>Gazebo/Red</material>
</visual>
</geom:box>
<geom:box name="desk3leg4_geom">
- <kp>100000000.0</kp>
+ <kp>1000000.0</kp>
<kd>1.0</kd>
- <xyz>0.3 0.8 .3</xyz>
+ <xyz>0.3 0.8 0.25</xyz>
<rpy>0 0 0</rpy>
- <massMatrix>true</massMatrix>
- <mass>10.0</mass>
- <ixx>1.0</ixx>
- <ixy>0</ixy>
- <ixz>0</ixz>
- <iyy>1.0</iyy>
- <iyz>0</iyz>
- <izz>1.0</izz>
- <cx>0</cx>
- <cy>0</cy>
- <cz>0</cz>
- <size>0.05 0.05 0.6</size>
+ <size>0.05 0.05 0.5</size>
<visual>
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
- <scale>0.05 0.05 0.6</scale>
+ <scale>0.05 0.05 0.5</scale>
<mesh>unit_box</mesh>
<material>Gazebo/Red</material>
</visual>
Modified: pkg/trunk/robot_descriptions/ikea_objects/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/ikea_objects/CMakeLists.txt 2009-07-08 00:11:42 UTC (rev 18443)
+++ pkg/trunk/robot_descriptions/ikea_objects/CMakeLists.txt 2009-07-08 00:26:45 UTC (rev 18444)
@@ -11,7 +11,7 @@
#iv files
# iterate through all the obj files and generate *.mesh and *.iv files
-file(GLOB ikea_objects_obj_files ${CMAKE_CURRENT_SOURCE_DIR}/meshes/*.obj_dont_build)
+file(GLOB ikea_objects_obj_files ${CMAKE_CURRENT_SOURCE_DIR}/meshes/*.obj)
set(ikea_objects_gen_files "")
foreach(it ${ikea_objects_obj_files})
@@ -22,42 +22,46 @@
message("ignoring stale .._convex.* file:",${basename})
ELSE ( ${basename} MATCHES "_convex" )
- #convex directory
- add_custom_command(
- OUTPUT ${basepath}/convex
- COMMAND mkdir -p
- ARGS ${basepath}/convex)
+ #convex directory
+ add_custom_command(
+ OUTPUT ${basepath}/convex
+ COMMAND mkdir -p
+ ARGS ${basepath}/convex)
- #move obj files to convex directory
- add_custom_command(
- OUTPUT ${basepath}/convex/${basename}
- COMMAND cp
- ARGS ${it} ${basepath}/convex/${basename}
- DEPENDS ${it} ${basepath}/convex)
+ #create stl files from obj files
+ add_custom_command(
+ OUTPUT ${basepath}/convex/${basename}.stlb
+ COMMAND ${ivcon_PACKAGE_PATH}/bin/ivcon
+ ARGS ${it} ${basepath}/convex/${basename}.stlb
+ DEPENDS ${it})
+ set(ikea_objects_gen_files ${ikea_objects_gen_files} ${basepath}/convex/${basename}.stlb)
- set(ikea_objects_gen_files ${ikea_objects_gen_files} ${basepath}/convex/${basename})
+# #move obj files to convex directory
+# add_custom_command(
+# OUTPUT ${basepath}/convex/${basename}
+# COMMAND cp
+# ARGS ${it} ${basepath}/convex/${basename}
+# DEPENDS ${it} ${basepath}/convex)
+# set(ikea_objects_gen_files ${ikea_objects_gen_files} ${basepath}/convex/${basename})
+#
+# #convex decomp in convex directory
+# add_custom_command(
+# OUTPUT ${basepath}/convex/${basename}_convex.obj
+# COMMAND ${convex_decomposition_PACKAGE_PATH}/convex_decomposition/bin/convex_decomposition
+# ARGS ${basepath}/convex/${basename} -v64 -p0.01 -c0.01 -d7
+# DEPENDS ${basepath}/convex/${basename})
+# set(ikea_objects_gen_files ${ikea_objects_gen_files} ${basepath}/convex/${basename}_convex.obj)
+#
+#
+# #create convex stl files for convex decomposition obj files
+# add_custom_command(
+# OUTPUT ${basepath}/convex/${basename}_convex.stlb
+# COMMAND ${ivcon_PACKAGE_PATH}/bin/ivcon
+# ARGS ${basepath}/convex/${basename}_convex.obj ${basepath}/convex/${basename}_convex.stlb
+# DEPENDS ${basepath}/convex/${basename}_convex.obj)
+# set(ikea_objects_gen_files ${ikea_objects_gen_files} ${basepath}/convex/${basename}_convex.stlb)
- #convex decomp in convex directory
- add_custom_command(
- OUTPUT ${basepath}/convex/${basename}_convex.obj
- COMMAND ${convex_decomposition_PACKAGE_PATH}/convex_decomposition/bin/convex_decomposition
- ARGS ${basepath}/convex/${basename} -v64 -p0.01 -c0.01 -d7
- DEPENDS ${basepath}/convex/${basename})
- set(ikea_objects_gen_files ${ikea_objects_gen_files} ${basepath}/convex/${basename}_convex.obj)
-
- #create convex stl files for convex decomposition obj files
- add_custom_command(
- OUTPUT ${basepath}/convex/${basename}_convex.stlb
- #COMMAND /usr/bin/meshlabserver
- #ARGS -i ${basepath}/convex/${basename}_convex.obj -o ${basepath}/convex/${basename}_convex.stl
- COMMAND ${ivcon_PACKAGE_PATH}/bin/ivcon
- ARGS ${basepath}/convex/${basename}_convex.obj ${basepath}/convex/${basename}_convex.stlb
- DEPENDS ${basepath}/convex/${basename}_convex.obj)
-
- set(ikea_objects_gen_files ${ikea_objects_gen_files} ${basepath}/convex/${basename}_convex.stlb)
-
-
ENDIF ( ${basename} MATCHES "_convex" )
endforeach(it)
Modified: pkg/trunk/stacks/pr2/pr2_ogre/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/pr2/pr2_ogre/CMakeLists.txt 2009-07-08 00:11:42 UTC (rev 18443)
+++ pkg/trunk/stacks/pr2/pr2_ogre/CMakeLists.txt 2009-07-08 00:26:45 UTC (rev 18444)
@@ -52,9 +52,10 @@
find_ros_package(ikea_objects)
-if(EXISTS ikea_objects_PACKAGE_PATH)
+MESSAGE(STATUS "\nikea_objects path ${ikea_objects_PACKAGE_PATH}\n")
+if(EXISTS ${ikea_objects_PACKAGE_PATH})
# build the ogre mesh files from *.stl (and *.stlb from convex decomposition)
- file(GLOB ikea_objects_stl_files ${ikea_objects_PACKAGE_PATH}/meshes/convex/*_convex.stl)
+ file(GLOB ikea_objects_stl_files ${ikea_objects_PACKAGE_PATH}/meshes/convex/*.stlb)
set(ikea_objects_gen_files "")
set(ikea_objects_out_path ${CMAKE_CURRENT_SOURCE_DIR}/Media/models/ikea_objects)
@@ -77,5 +78,5 @@
endforeach(it)
add_custom_target(ikea_objects_media_files ALL DEPENDS ${ikea_objects_gen_files})
-endif(EXISTS ikea_objects_PACKAGE_PATH)
+endif(EXISTS ${ikea_objects_PACKAGE_PATH})
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