[Personalrobots-commit] SF.net SVN: personalrobots:[20133] pkg/trunk

[<mr...@us...>]

Revision: 20133
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20133&view=rev
Author:   mrinal
Date:     2009-07-30 04:06:52 +0000 (Thu, 30 Jul 2009)

Log Message:
-----------
We use the spline smoothed controller for move arm now.
Also moved some launch files to 3dnav_pr2

Modified Paths:
--------------
    pkg/trunk/highlevel/move_arm/launch/move_larm.launch
    pkg/trunk/highlevel/move_arm/launch/move_rarm.launch
    pkg/trunk/sandbox/joint_waypoint_controller/launch/filters.xml

Added Paths:
-----------
    pkg/trunk/sandbox/3dnav_pr2/launch/actions/
    pkg/trunk/sandbox/3dnav_pr2/launch/actions/left_arm.launch
    pkg/trunk/sandbox/3dnav_pr2/launch/actions/right_arm.launch
    pkg/trunk/sandbox/joint_waypoint_controller/launch/l_arm_joint_waypoint_controller.launch
    pkg/trunk/sandbox/joint_waypoint_controller/launch/r_arm_joint_waypoint_controller.launch
    pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.xml
    pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.yaml
    pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.xml
    pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.yaml

Removed Paths:
-------------
    pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch
    pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch
    pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm_splines.launch
    pkg/trunk/highlevel/move_arm/launch/move_rarm_splines.launch
    pkg/trunk/sandbox/joint_waypoint_controller/launch/joint_waypoint_controller.launch
    pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.xml
    pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.yaml

Deleted: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/larm.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,6 +0,0 @@
-<launch>
-  <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
-  <include file="$(find pr2_ik)/pr2_ik_larm_node.launch"/>
-  <include file="$(find move_arm)/launch/move_larm.launch"/>
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/l_arm_joint_trajectory_controller.xml" />
-</launch>

Deleted: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,25 +0,0 @@
-<launch>
-
-  <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
-  <include file="$(find pr2_ik)/pr2_ik_rarm_node.launch"/>
-  <include file="$(find move_arm)/launch/move_rarm.launch"/> 
-
-  <param name="r_arm_joint_trajectory_controller/r_shoulder_pan_joint/goal_reached_threshold" value="0.001" />
-  <param name="r_arm_joint_trajectory_controller/r_shoulder_lift_joint/goal_reached_threshold" value="0.001" />
-  <param name="r_arm_joint_trajectory_controller/r_upper_arm_roll_joint/goal_reached_threshold" value="0.001" />
-  <param name="r_arm_joint_trajectory_controller/r_elbow_flex_joint/goal_reached_threshold" value="0.001" />
-  <param name="r_arm_joint_trajectory_controller/r_forearm_roll_joint/goal_reached_threshold" value="0.001" />
-  <param name="r_arm_joint_trajectory_controller/r_wrist_flex_joint/goal_reached_threshold" value="0.001" />
-  <param name="r_arm_joint_trajectory_controller/r_wrist_roll_joint/goal_reached_threshold" value="0.001" />
-
-  <param name="r_arm_joint_trajectory_controller/r_shoulder_pan_joint/joint_error_threshold" value="0.1" />
-  <param name="r_arm_joint_trajectory_controller/r_shoulder_lift_joint/joint_error_threshold" value="0.1" />
-  <param name="r_arm_joint_trajectory_controller/r_upper_arm_roll_joint/joint_error_threshold" value="0.1" />
-  <param name="r_arm_joint_trajectory_controller/r_elbow_flex_joint/joint_error_threshold" value="0.1" />
-  <param name="r_arm_joint_trajectory_controller/r_forearm_roll_joint/joint_error_threshold" value="0.1" />
-  <param name="r_arm_joint_trajectory_controller/r_wrist_flex_joint/joint_error_threshold" value="0.1" />
-  <param name="r_arm_joint_trajectory_controller/r_wrist_roll_joint/joint_error_threshold" value="0.1" />
-
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/r_arm_joint_trajectory_controller.xml" />
-
-</launch>

Deleted: pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm_splines.launch
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm_splines.launch	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/demos/tabletop_manipulation/tabletop_scripts/launch/rarm_splines.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,15 +0,0 @@
-<launch>
-
-  <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
-  <include file="$(find pr2_ik)/pr2_ik_rarm_node.launch"/>
-
-  <rosparam file="$(find pr2_default_controllers)/trajectory_controller.yaml" command="load" ns="trajectory_controller"/>
-
-  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/trajectory_controller.xml" output="screen"/>
-
-
-  <include file="$(find move_arm)/launch/move_rarm_splines.launch"/> 
-
-  <include file="$(find joint_waypoint_controller)/launch/joint_waypoint_controller.launch"/>
-
-</launch>

Modified: pkg/trunk/highlevel/move_arm/launch/move_larm.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/launch/move_larm.launch	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/highlevel/move_arm/launch/move_larm.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -9,16 +9,16 @@
 
     <remap from="get_valid_state" to="find_valid_state" />
     
-    <remap from="controller_start"  to="l_arm_joint_trajectory_controller/TrajectoryStart" />
-    <remap from="controller_query"  to="l_arm_joint_trajectory_controller/TrajectoryQuery" />
-    <remap from="controller_cancel" to="l_arm_joint_trajectory_controller/TrajectoryCancel" />
+    <remap from="controller_start"  to="/l_arm_joint_waypoint_controller/TrajectoryStart" />
+    <remap from="controller_query"  to="/l_arm_joint_waypoint_controller/TrajectoryQuery" />
+    <remap from="controller_cancel" to="/l_arm_joint_waypoint_controller/TrajectoryCancel" />
     
     <remap from="get_motion_plan" to="plan_kinematic_path" />
     
     <param name="arm" type="string" value="left_arm" />
     <param name="show_collisions" type="bool" value="true" />
 
-    <param name="refresh_interval_collision_map" type="double" value="5.0" />
+    <param name="refresh_interval_collision_map" type="double" value="20.0" />
     <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
     <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
 

Modified: pkg/trunk/highlevel/move_arm/launch/move_rarm.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/launch/move_rarm.launch	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/highlevel/move_arm/launch/move_rarm.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -9,16 +9,16 @@
 
     <remap from="get_valid_state" to="find_valid_state" />
     
-    <remap from="controller_start"  to="r_arm_joint_trajectory_controller/TrajectoryStart" />
-    <remap from="controller_query"  to="r_arm_joint_trajectory_controller/TrajectoryQuery" />
-    <remap from="controller_cancel" to="r_arm_joint_trajectory_controller/TrajectoryCancel" />
+    <remap from="controller_start"  to="/r_arm_joint_waypoint_controller/TrajectoryStart" />
+    <remap from="controller_query"  to="/r_arm_joint_waypoint_controller/TrajectoryQuery" />
+    <remap from="controller_cancel" to="/r_arm_joint_waypoint_controller/TrajectoryCancel" />
     
     <remap from="get_motion_plan" to="plan_kinematic_path" />
     
     <param name="arm" type="string" value="right_arm" />
     <param name="show_collisions" type="bool" value="true" />
 
-    <param name="refresh_interval_collision_map" type="double" value="5.0" />
+    <param name="refresh_interval_collision_map" type="double" value="20.0" />
     <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
     <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
   </node>

Deleted: pkg/trunk/highlevel/move_arm/launch/move_rarm_splines.launch
===================================================================
--- pkg/trunk/highlevel/move_arm/launch/move_rarm_splines.launch	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/highlevel/move_arm/launch/move_rarm_splines.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,28 +0,0 @@
-<launch>
-  <node pkg="move_arm" type="move_arm_action" output="screen">    
-
-    <remap from="robot_description" to="robot_description" />
-    <remap from="collision_map" to="collision_map_occ" />
-    <remap from="collision_map_update" to="collision_map_occ_update" />
-
-    <remap from="arm_ik" to="pr2_ik_right_arm/ik_service" />	
-
-    <remap from="get_valid_state" to="find_valid_state" />
-    
-    <remap from="controller_start"  to="/joint_waypoint_controller/TrajectoryStart" />
-    <remap from="controller_query"  to="/joint_waypoint_controller/TrajectoryQuery" />
-    <remap from="controller_cancel" to="/joint_waypoint_controller/TrajectoryCancel" />
-    
-    <remap from="get_motion_plan" to="plan_kinematic_path" />
-    
-    <param name="arm" type="string" value="right_arm" />
-    <param name="show_collisions" type="bool" value="true" />
-
-    <param name="refresh_interval_collision_map" type="double" value="20.0" />
-    <param name="refresh_interval_kinematic_state" type="double" value="1.0" />
-    <param name="bounding_planes" type="string" value="0 0 1 -0.01" />
-  </node>
-
-  <include file="$(find move_arm)/launch/gripper_rarm.launch" />
-  
-</launch>

Added: pkg/trunk/sandbox/3dnav_pr2/launch/actions/left_arm.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/actions/left_arm.launch	                        (rev 0)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/actions/left_arm.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,13 @@
+<launch>
+
+  <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
+  <include file="$(find pr2_ik)/pr2_ik_larm_node.launch"/>
+
+  <rosparam file="$(find pr2_default_controllers)/l_arm_trajectory_controller.yaml" command="load" ns="l_arm_trajectory_controller"/>
+
+  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/l_arm_trajectory_controller.xml" output="screen"/>
+
+  <include file="$(find joint_waypoint_controller)/launch/l_arm_joint_waypoint_controller.launch"/>
+
+  <include file="$(find move_arm)/launch/move_larm.launch"/> 
+</launch>

Added: pkg/trunk/sandbox/3dnav_pr2/launch/actions/right_arm.launch
===================================================================
--- pkg/trunk/sandbox/3dnav_pr2/launch/actions/right_arm.launch	                        (rev 0)
+++ pkg/trunk/sandbox/3dnav_pr2/launch/actions/right_arm.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,13 @@
+<launch>
+
+  <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />
+  <include file="$(find pr2_ik)/pr2_ik_rarm_node.launch"/>
+
+  <rosparam file="$(find pr2_default_controllers)/r_arm_trajectory_controller.yaml" command="load" ns="r_arm_trajectory_controller"/>
+
+  <node pkg="mechanism_control" type="spawner.py" args="$(find pr2_default_controllers)/r_arm_trajectory_controller.xml" output="screen"/>
+
+  <include file="$(find joint_waypoint_controller)/launch/r_arm_joint_waypoint_controller.launch"/>
+
+  <include file="$(find move_arm)/launch/move_rarm.launch"/> 
+</launch>

Modified: pkg/trunk/sandbox/joint_waypoint_controller/launch/filters.xml
===================================================================
--- pkg/trunk/sandbox/joint_waypoint_controller/launch/filters.xml	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/sandbox/joint_waypoint_controller/launch/filters.xml	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,5 +1,6 @@
 <filters>
 	<filter type="FixWraparoundJoints" name="fix_wraparound_joints"/>
 	<filter type="ClampedCubicSplineSmoother" name="clamped_cubic_spline_smoother"/>
+<!--	<filter type="NumericalDifferentiationSplineSmoother" name="clamped_cubic_spline_smoother"/> -->
 </filters>
 

Deleted: pkg/trunk/sandbox/joint_waypoint_controller/launch/joint_waypoint_controller.launch
===================================================================
--- pkg/trunk/sandbox/joint_waypoint_controller/launch/joint_waypoint_controller.launch	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/sandbox/joint_waypoint_controller/launch/joint_waypoint_controller.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,7 +0,0 @@
-<launch> 
-	<node pkg="joint_waypoint_controller" name="joint_waypoint_controller" type="joint_waypoint_controller" output="screen" clear_params="true">
-		<param name="filters" textfile="$(find joint_waypoint_controller)/launch/filters.xml"/>
-		<param name="trajectory_type" value="cubic"/>
-		<param name="spline_controller_prefix" value="/trajectory_controller/"/>
-	</node>
-</launch>

Added: pkg/trunk/sandbox/joint_waypoint_controller/launch/l_arm_joint_waypoint_controller.launch
===================================================================
--- pkg/trunk/sandbox/joint_waypoint_controller/launch/l_arm_joint_waypoint_controller.launch	                        (rev 0)
+++ pkg/trunk/sandbox/joint_waypoint_controller/launch/l_arm_joint_waypoint_controller.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,7 @@
+<launch> 
+	<node pkg="joint_waypoint_controller" name="l_arm_joint_waypoint_controller" type="joint_waypoint_controller" output="screen" clear_params="true">
+		<param name="filters" textfile="$(find joint_waypoint_controller)/launch/filters.xml"/>
+		<param name="trajectory_type" value="cubic"/>
+		<param name="spline_controller_prefix" value="/l_arm_trajectory_controller/"/>
+	</node>
+</launch>

Copied: pkg/trunk/sandbox/joint_waypoint_controller/launch/r_arm_joint_waypoint_controller.launch (from rev 20100, pkg/trunk/sandbox/joint_waypoint_controller/launch/joint_waypoint_controller.launch)
===================================================================
--- pkg/trunk/sandbox/joint_waypoint_controller/launch/r_arm_joint_waypoint_controller.launch	                        (rev 0)
+++ pkg/trunk/sandbox/joint_waypoint_controller/launch/r_arm_joint_waypoint_controller.launch	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,7 @@
+<launch> 
+	<node pkg="joint_waypoint_controller" name="r_arm_joint_waypoint_controller" type="joint_waypoint_controller" output="screen" clear_params="true">
+		<param name="filters" textfile="$(find joint_waypoint_controller)/launch/filters.xml"/>
+		<param name="trajectory_type" value="cubic"/>
+		<param name="spline_controller_prefix" value="/r_arm_trajectory_controller/"/>
+	</node>
+</launch>


Property changes on: pkg/trunk/sandbox/joint_waypoint_controller/launch/r_arm_joint_waypoint_controller.launch
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/sandbox/joint_waypoint_controller/launch/joint_waypoint_controller.launch:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334

Added: pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.xml	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.xml	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<controller name="dynamic_loader" type="DynamicLoaderController"
+   package="experimental_controllers" lib="libexperimental_controllers">
+<controllers>
+  <controller name="l_arm_trajectory_controller" type="TrajectoryController"/>
+</controllers>
+</controller>

Added: pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.yaml	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/l_arm_trajectory_controller.yaml	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,58 @@
+joint_names: l_shoulder_pan_joint l_shoulder_lift_joint l_upper_arm_roll_joint l_elbow_flex_joint l_forearm_roll_joint l_wrist_flex_joint l_wrist_roll_joint
+
+l_shoulder_pan_joint:
+  joint: l_shoulder_pan_joint
+  p: 140.0
+  d: 30.0
+  i: 100.0
+  i_clamp: 3.0
+  goal_reached_threshold: 0.01
+
+l_shoulder_lift_joint:
+  joint: l_shoulder_lift_joint
+  p: 70.0
+  d: 20.0
+  i: 300.0
+  i_clamp: 3.0
+  goal_reached_threshold: 0.01
+
+l_upper_arm_roll_joint:
+  joint: l_upper_arm_roll_joint
+  p: 50.0
+  d: 5.0
+  i: 100.0
+  i_clamp: 3.0
+  goal_reached_threshold: 0.01
+
+l_elbow_flex_joint:
+  joint: l_elbow_flex_joint
+  p: 100.0
+  d: 5.0
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+
+l_forearm_roll_joint:
+  joint: l_forearm_roll_joint
+  p: 10.0
+  d: 2.0
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+
+l_wrist_flex_joint:
+  joint: l_wrist_flex_joint
+  p: 20.0
+  d: 0.5
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+
+l_wrist_roll_joint:
+  joint: l_wrist_roll_joint
+  p: 10.0
+  d: 0.5
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+

Copied: pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.xml (from rev 20100, pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.xml)
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.xml	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.xml	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<controller name="dynamic_loader" type="DynamicLoaderController"
+   package="experimental_controllers" lib="libexperimental_controllers">
+<controllers>
+  <controller name="r_arm_trajectory_controller" type="TrajectoryController"/>
+</controllers>
+</controller>


Property changes on: pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.xml
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/robot_descriptions/pr2/pr2_default_controllers/trajectory_controller.xml:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334

Copied: pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.yaml (from rev 20113, pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.yaml)
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.yaml	                        (rev 0)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.yaml	2009-07-30 04:06:52 UTC (rev 20133)
@@ -0,0 +1,58 @@
+joint_names: 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
+
+r_shoulder_pan_joint:
+  joint: r_shoulder_pan_joint
+  p: 140.0
+  d: 30.0
+  i: 100.0
+  i_clamp: 3.0
+  goal_reached_threshold: 0.01
+
+r_shoulder_lift_joint:
+  joint: r_shoulder_lift_joint
+  p: 70.0
+  d: 20.0
+  i: 300.0
+  i_clamp: 3.0
+  goal_reached_threshold: 0.01
+
+r_upper_arm_roll_joint:
+  joint: r_upper_arm_roll_joint
+  p: 50.0
+  d: 5.0
+  i: 100.0
+  i_clamp: 3.0
+  goal_reached_threshold: 0.01
+
+r_elbow_flex_joint:
+  joint: r_elbow_flex_joint
+  p: 100.0
+  d: 5.0
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+
+r_forearm_roll_joint:
+  joint: r_forearm_roll_joint
+  p: 10.0
+  d: 2.0
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+
+r_wrist_flex_joint:
+  joint: r_wrist_flex_joint
+  p: 20.0
+  d: 0.5
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+
+r_wrist_roll_joint:
+  joint: r_wrist_roll_joint
+  p: 10.0
+  d: 0.5
+  i: 100.0
+  i_clamp: 1.0
+  goal_reached_threshold: 0.01
+


Property changes on: pkg/trunk/stacks/pr2/pr2_default_controllers/r_arm_trajectory_controller.yaml
___________________________________________________________________
Added: svn:mergeinfo
   + 

Deleted: pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.xml	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.xml	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,7 +0,0 @@
-<?xml version="1.0"?>
-<controller name="dynamic_loader" type="DynamicLoaderController"
-   package="experimental_controllers" lib="libexperimental_controllers">
-<controllers>
-  <controller name="trajectory_controller" type="TrajectoryController"/>
-</controllers>
-</controller>
\ No newline at end of file

Deleted: pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.yaml	2009-07-30 04:05:47 UTC (rev 20132)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/trajectory_controller.yaml	2009-07-30 04:06:52 UTC (rev 20133)
@@ -1,58 +0,0 @@
-joint_names: 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
-
-r_shoulder_pan_joint:
-  joint: r_shoulder_pan_joint
-  p: 140.0
-  d: 30.0
-  i: 100.0
-  i_clamp: 3.0
-  goal_reached_threshold: 0.1
-
-r_shoulder_lift_joint:
-  joint: r_shoulder_lift_joint
-  p: 70.0
-  d: 20.0
-  i: 300.0
-  i_clamp: 3.0
-  goal_reached_threshold: 0.1
-
-r_upper_arm_roll_joint:
-  joint: r_upper_arm_roll_joint
-  p: 50.0
-  d: 5.0
-  i: 100.0
-  i_clamp: 3.0
-  goal_reached_threshold: 0.1
-
-r_elbow_flex_joint:
-  joint: r_elbow_flex_joint
-  p: 100.0
-  d: 5.0
-  i: 100.0
-  i_clamp: 1.0
-  goal_reached_threshold: 0.1
-
-r_forearm_roll_joint:
-  joint: r_forearm_roll_joint
-  p: 10.0
-  d: 2.0
-  i: 100.0
-  i_clamp: 1.0
-  goal_reached_threshold: 0.1
-
-r_wrist_flex_joint:
-  joint: r_wrist_flex_joint
-  p: 20.0
-  d: 0.5
-  i: 100.0
-  i_clamp: 1.0
-  goal_reached_threshold: 0.1
-
-r_wrist_roll_joint:
-  joint: r_wrist_roll_joint
-  p: 10.0
-  d: 0.5
-  i: 100.0
-  i_clamp: 1.0
-  goal_reached_threshold: 0.1
-


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