[Personalrobots-commit] SF.net SVN: personalrobots:[18660] pkg/trunk

[<rdi...@us...>]

Revision: 18660
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18660&view=rev
Author:   rdiankov
Date:     2009-07-11 06:32:06 +0000 (Sat, 11 Jul 2009)

Log Message:
-----------
fixed ormanipulation openrave demo

Modified Paths:
--------------
    pkg/trunk/openrave_planning/openrave/Makefile
    pkg/trunk/openrave_planning/ormanipulation/octave/MakePR2GraspTables.m
    pkg/trunk/openrave_planning/ormanipulation/octave/SetupTableScene.m
    pkg/trunk/openrave_planning/ormanipulation/octave/grasp_pr2_ricebox.mat
    pkg/trunk/openrave_planning/ormanipulation/octave/startup.m
    pkg/trunk/robot_descriptions/openrave_robot_description/robots/pr2full.robot.xml

Modified: pkg/trunk/openrave_planning/openrave/Makefile
===================================================================
--- pkg/trunk/openrave_planning/openrave/Makefile	2009-07-11 05:17:03 UTC (rev 18659)
+++ pkg/trunk/openrave_planning/openrave/Makefile	2009-07-11 06:32:06 UTC (rev 18660)
@@ -2,7 +2,7 @@
 
 SVN_DIR = openrave_svn
 # Should really specify a revision
-SVN_REVISION = -r 825
+SVN_REVISION = -r 829
 SVN_URL = https://openrave.svn.sourceforge.net/svnroot/openrave
 #SVN_PATCH = fini_patch.patch
 include $(shell rospack find mk)/svn_checkout.mk

Modified: pkg/trunk/openrave_planning/ormanipulation/octave/MakePR2GraspTables.m
===================================================================
--- pkg/trunk/openrave_planning/ormanipulation/octave/MakePR2GraspTables.m	2009-07-11 05:17:03 UTC (rev 18659)
+++ pkg/trunk/openrave_planning/ormanipulation/octave/MakePR2GraspTables.m	2009-07-11 06:32:06 UTC (rev 18660)
@@ -65,10 +65,10 @@
 orBodySetTransform(Target.id, [0 0 0], [1 0 0 0]); % identity
 
 standoffs = [0.01 0.03];
-rolls = [0 pi/4 pi/2]; % hand is symmetric
+rolls = [0 pi/2]; % hand is symmetric
 use_noise = 0;
 stepsize = 0.02;
-add_spherenorms = 1;
+add_spherenorms = 0;
 
 % start simulating grasps
 [GraspTable, GraspStats] = MakeGraspTable(robot,Target,preshapes, standoffs, rolls,use_noise,stepsize,add_spherenorms);

Modified: pkg/trunk/openrave_planning/ormanipulation/octave/SetupTableScene.m
===================================================================
--- pkg/trunk/openrave_planning/ormanipulation/octave/SetupTableScene.m	2009-07-11 05:17:03 UTC (rev 18659)
+++ pkg/trunk/openrave_planning/ormanipulation/octave/SetupTableScene.m	2009-07-11 06:32:06 UTC (rev 18660)
@@ -80,7 +80,7 @@
 %% set the default joint values
 orBodySetJointValues (robot.id,[1.582704 1.081165 0.000000 -2.299995 -0.000000 0.000000 0.000000],robot.manips{1}.armjoints);
 orBodySetJointValues (robot.id,[-0.979114 -0.400000 0.000000 -1.535151 0.000000 0.000000 0.000000],robot.manips{2}.armjoints);
-orBodySetJointValues (robot.id,0.05,find(cellfun(@(x) strcmp('torso_lift_joint',x), robot.jointnames),1,'first'));
+orBodySetJointValues (robot.id,0.1,find(cellfun(@(x) strcmp('torso_lift_joint',x), robot.jointnames),1,'first')-1);
 
 robothome = orBodyGetJointValues(robot.id);
 

Modified: pkg/trunk/openrave_planning/ormanipulation/octave/grasp_pr2_ricebox.mat
===================================================================
(Binary files differ)

Modified: pkg/trunk/openrave_planning/ormanipulation/octave/startup.m
===================================================================
--- pkg/trunk/openrave_planning/ormanipulation/octave/startup.m	2009-07-11 05:17:03 UTC (rev 18659)
+++ pkg/trunk/openrave_planning/ormanipulation/octave/startup.m	2009-07-11 06:32:06 UTC (rev 18660)
@@ -21,4 +21,4 @@
 orEnvSetOptions('wdims 800 600');
 orEnvSetOptions('simulation timestep 0.001');
 orEnvSetOptions('collision ode');
-orEnvSetOptions('debug debug');
+#orEnvSetOptions('debug debug');

Modified: pkg/trunk/robot_descriptions/openrave_robot_description/robots/pr2full.robot.xml
===================================================================
--- pkg/trunk/robot_descriptions/openrave_robot_description/robots/pr2full.robot.xml	2009-07-11 05:17:03 UTC (rev 18659)
+++ pkg/trunk/robot_descriptions/openrave_robot_description/robots/pr2full.robot.xml	2009-07-11 06:32:06 UTC (rev 18660)
@@ -18,7 +18,7 @@
     <base>torso_lift_link</base>
     <effector>r_gripper_palm_link</effector>
     <armjoints>r_shoulder_pan_joint r_shoulder_lift_joint r_upper_arm_roll_joint r_elbow_flex_joint r_forearm_roll_joint r_wrist_flex_joint r_wrist_roll_joint</armjoints>
-    <joints>r_gripper_palm_joint r_gripper_l_finger_joint r_gripper_tool_joint</joints>
+    <joints>r_gripper_palm_joint r_gripper_float_joint r_gripper_l_finger_joint r_gripper_tool_joint</joints>
     <closed>0 0</closed>
     <opened>0 0.8</opened>
     <iksolver>PR2Rightikfast</iksolver>


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