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[Personalrobots-commit] SF.net SVN: personalrobots:[21038] pkg/trunk
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From: <hsu...@us...> - 2009-08-07 20:11:27
|
Revision: 21038
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21038&view=rev
Author: hsujohnhsu
Date: 2009-08-07 20:11:16 +0000 (Fri, 07 Aug 2009)
Log Message:
-----------
update test grasping testcase.
Modified Paths:
--------------
pkg/trunk/demos/pr2_gazebo/test_grasping.launch
pkg/trunk/robot_descriptions/gazebo_worlds/manifest.xml
pkg/trunk/stacks/pr2/pr2_ogre/Media/materials/scripts/pr2.material
Added Paths:
-----------
pkg/trunk/robot_descriptions/gazebo_worlds/Media/materials/textures/face_texture.jpg
pkg/trunk/robot_descriptions/gazebo_worlds/objects/object101.model
pkg/trunk/robot_descriptions/gazebo_worlds/objects/object102.model
pkg/trunk/robot_descriptions/gazebo_worlds/objects/object103.model
pkg/trunk/robot_descriptions/gazebo_worlds/objects/object104.model
pkg/trunk/robot_descriptions/gazebo_worlds/objects/object105.model
Modified: pkg/trunk/demos/pr2_gazebo/test_grasping.launch
===================================================================
--- pkg/trunk/demos/pr2_gazebo/test_grasping.launch 2009-08-07 20:07:52 UTC (rev 21037)
+++ pkg/trunk/demos/pr2_gazebo/test_grasping.launch 2009-08-07 20:11:16 UTC (rev 21038)
@@ -1,4 +1,5 @@
<launch>
+ <include file="$(find pr2_alpha)/sim.machine"/>
<!-- start up empty world -->
<include file="$(find gazebo)/launch/empty_world.launch"/>
@@ -9,12 +10,25 @@
<param name="desk3" textfile="$(find gazebo_worlds)/objects/desk3.model" />
<node pkg="gazebo_tools" type="xml2factory" args="desk3 1.0 0.0 0.0 0 0 0 desk3" respawn="false" output="screen" />
- <!-- cups -->
+ <!-- cups
<param name="000_580_67" textfile="$(find gazebo_worlds)/objects/000.580.67.model" />
<param name="001_327_79" textfile="$(find gazebo_worlds)/objects/001.327.79.model" />
<param name="701_330_68" textfile="$(find gazebo_worlds)/objects/701.330.68.model" />
<node pkg="gazebo_tools" type="xml2factory" args="000_580_67 1.0 0.0 0.56 0 0 0 000_580_67" respawn="false" output="screen" />
<node pkg="gazebo_tools" type="xml2factory" args="001_327_79 1.0 -0.5 0.56 0 0 0 001_327_79" respawn="false" output="screen" />
<node pkg="gazebo_tools" type="xml2factory" args="701_330_68 1.0 0.5 0.56 0 0 0 701_330_68" respawn="false" output="screen" />
+ -->
+ <!-- things -->
+ <param name="object101" textfile="$(find gazebo_worlds)/objects/object101.model" />
+ <param name="object102" textfile="$(find gazebo_worlds)/objects/object102.model" />
+ <param name="object103" textfile="$(find gazebo_worlds)/objects/object103.model" />
+ <param name="object104" textfile="$(find gazebo_worlds)/objects/object104.model" />
+ <param name="object105" textfile="$(find gazebo_worlds)/objects/object105.model" />
+ <node pkg="gazebo_tools" type="xml2factory" args="object101 1.0 0.0 0.369 0 0 0 object101" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="object102 1.0 0.2 0.369 0 0 0 object102" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="object103 1.0 -0.2 0.369 0 0 0 object103" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="object104 1.0 0.4 0.369 0 0 0 object104" respawn="false" output="screen" />
+ <node pkg="gazebo_tools" type="xml2factory" args="object105 2.0 0.0 1.500 0 0 0 face1" respawn="false" output="screen" />
+
</launch>
Added: pkg/trunk/robot_descriptions/gazebo_worlds/Media/materials/textures/face_texture.jpg
===================================================================
(Binary files differ)
Property changes on: pkg/trunk/robot_descriptions/gazebo_worlds/Media/materials/textures/face_texture.jpg
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Modified: pkg/trunk/robot_descriptions/gazebo_worlds/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_worlds/manifest.xml 2009-08-07 20:07:52 UTC (rev 21037)
+++ pkg/trunk/robot_descriptions/gazebo_worlds/manifest.xml 2009-08-07 20:11:16 UTC (rev 21038)
@@ -7,4 +7,6 @@
<depend package="pr2_defs"/>
<depend package="pr2_ogre"/>
+ <depend package="ikea_ogre"/>
+ <depend package="gazebo_plugin"/>
</package>
Added: pkg/trunk/robot_descriptions/gazebo_worlds/objects/object101.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_worlds/objects/object101.model (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_worlds/objects/object101.model 2009-08-07 20:11:16 UTC (rev 21038)
@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<model:physical xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+ name="object101_model">
+
+ <!-- The small box "cup" -->
+ <xyz> 0.0 0.0 0.0 </xyz>
+ <rpy> 0.0 0.0 0.0 </rpy>
+
+ <body:box name="object101_body">
+ <xyz>0 0 0.252</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.2</mass>
+ <ixx>0.01</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.01</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.01</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
+ <geom:box name="object101_geom">
+ <xyz>0.0 0.0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.06 0.06 0.145</size>
+ <visual>
+ <size>0.06 0.06 0.145</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ <geom:cylinder name="object101_base_geom">
+ <xyz>0.0 0.0 0.085</xyz>
+ <rpy>0.0 0.0 90.0 </rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.0205 0.035</size>
+ <visual>
+ <size>0.041 0.041 0.03</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ </body:box>
+
+ <controller:ros_p3d name="p3d_object_controller" plugin="libros_p3d.so">
+ <updateRate>100.0</updateRate>
+ <bodyName>object101_body</bodyName>
+ <topicName>object101_body_ground_truth</topicName>
+ <frameName>object101_body_ground_truth_frame</frameName>
+ <interface:position name="p3d_object_position"/>
+ </controller:ros_p3d>
+
+</model:physical>
+
+
+
Added: pkg/trunk/robot_descriptions/gazebo_worlds/objects/object102.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_worlds/objects/object102.model (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_worlds/objects/object102.model 2009-08-07 20:11:16 UTC (rev 21038)
@@ -0,0 +1,59 @@
+<?xml version="1.0" ?>
+<model:physical xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+ name="object102_model">
+
+ <!-- The small box "cup" -->
+ <xyz> 0.0 0.0 0.0 </xyz>
+ <rpy> 0.0 0.0 0.0 </rpy>
+
+ <body:box name="object102_body">
+ <xyz>0 0 0.18</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.2</mass>
+ <ixx>0.01</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.01</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.01</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
+ <geom:cylinder name="object102_geom">
+ <xyz>0.0 0.0 0.066</xyz>
+ <rpy>0.0 0.0 90.0 </rpy>
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.027 0.132</size>
+ <visual>
+ <size>0.054 0.054 0.132</size>
+ <material>Gazebo/Green</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ </body:box>
+
+ <controller:ros_p3d name="p3d_object_controller" plugin="libros_p3d.so">
+ <updateRate>100.0</updateRate>
+ <bodyName>object102_body</bodyName>
+ <topicName>object102_body_ground_truth</topicName>
+ <frameName>object102_body_ground_truth_frame</frameName>
+ <interface:position name="p3d_object_position"/>
+ </controller:ros_p3d>
+
+</model:physical>
+
+
+
Added: pkg/trunk/robot_descriptions/gazebo_worlds/objects/object103.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_worlds/objects/object103.model (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_worlds/objects/object103.model 2009-08-07 20:11:16 UTC (rev 21038)
@@ -0,0 +1,59 @@
+<?xml version="1.0" ?>
+<model:physical xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+ name="object103_model">
+
+ <!-- The small box "cup" -->
+ <xyz> 0.0 0.0 0.0 </xyz>
+ <rpy> 0.0 0.0 0.0 </rpy>
+
+ <body:box name="object103_body">
+ <xyz>0 0 0.18</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.2</mass>
+ <ixx>0.01</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.01</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.01</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
+ <geom:cylinder name="object103_geom">
+ <xyz>0.0 0.0 0.066</xyz>
+ <rpy>0.0 0.0 90.0 </rpy>
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.027 0.132</size>
+ <visual>
+ <size>0.054 0.054 0.132</size>
+ <material>Gazebo/Green</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ </body:box>
+
+ <controller:ros_p3d name="p3d_object_controller" plugin="libros_p3d.so">
+ <updateRate>100.0</updateRate>
+ <bodyName>object103_body</bodyName>
+ <topicName>object103_body_ground_truth</topicName>
+ <frameName>object103_body_ground_truth_frame</frameName>
+ <interface:position name="p3d_object_position"/>
+ </controller:ros_p3d>
+
+</model:physical>
+
+
+
Added: pkg/trunk/robot_descriptions/gazebo_worlds/objects/object104.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_worlds/objects/object104.model (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_worlds/objects/object104.model 2009-08-07 20:11:16 UTC (rev 21038)
@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<model:physical xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+ name="object104_model">
+
+ <!-- The small box "cup" -->
+ <xyz> 0.0 0.0 0.0 </xyz>
+ <rpy> 0.0 0.0 0.0 </rpy>
+
+ <body:box name="object104_body">
+ <xyz>0 0 0.252</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.2</mass>
+ <ixx>0.01</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.01</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.01</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
+ <geom:box name="object104_geom">
+ <xyz>0.0 0.0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.06 0.06 0.145</size>
+ <visual>
+ <size>0.06 0.06 0.145</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ <geom:cylinder name="object104_base_geom">
+ <xyz>0.0 0.0 0.085</xyz>
+ <rpy>0.0 0.0 90.0 </rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.0205 0.035</size>
+ <visual>
+ <size>0.041 0.041 0.03</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ </body:box>
+
+ <controller:ros_p3d name="p3d_object_controller" plugin="libros_p3d.so">
+ <updateRate>100.0</updateRate>
+ <bodyName>object104_body</bodyName>
+ <topicName>object104_body_ground_truth</topicName>
+ <frameName>object104_body_ground_truth_frame</frameName>
+ <interface:position name="p3d_object_position"/>
+ </controller:ros_p3d>
+
+</model:physical>
+
+
+
Added: pkg/trunk/robot_descriptions/gazebo_worlds/objects/object105.model
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_worlds/objects/object105.model (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_worlds/objects/object105.model 2009-08-07 20:11:16 UTC (rev 21038)
@@ -0,0 +1,184 @@
+<?xml version="1.0" ?>
+<model:physical xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+ name="object105_model">
+
+ <!-- The small box "cup" -->
+ <xyz> 0.0 0.0 0.0 </xyz>
+ <rpy> 0.0 0.0 0.0 </rpy>
+
+ <body:box name="object105_1_body">
+ <xyz>0 0 0.252</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.2</mass>
+ <ixx>0.01</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>0.01</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.01</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
+ <turnGravityOff>true</turnGravityOff>
+ <geom:box name="object105_1_geom">
+ <xyz>0.0 0.0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.20 0.20 0.245</size>
+ <visual>
+ <size>0.20 0.20 0.245</size>
+ <material>PR2/Face</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <body:box name="object105_2_body">
+ <xyz>0 0 -0.30</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>50</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>0.0</cz>
+ <turnGravityOff>true</turnGravityOff>
+ <geom:box name="object105_2_geom">
+ <xyz>0.0 0.0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.20 0.60 0.8</size>
+ <visual>
+ <size>0.20 0.60 0.8</size>
+ <material>PR2/Green</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <joint:hinge name="neck_joint">
+ <body1>object105_1_body</body1>
+ <body2>object105_2_body</body2>
+ <anchor>object105_1_body</anchor>
+ <lowStop>0</lowStop>
+ <highStop>0</highStop>
+ <axis>0 0 1</axis>
+ </joint:hinge>
+
+ <body:cylinder name="object105_3_body">
+ <xyz>0 -0.2 -1.0</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>50</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>0.0</cz>
+ <turnGravityOff>true</turnGravityOff>
+ <geom:cylinder name="object105_3_geom">
+ <xyz>0.0 0.0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.10 0.5</size>
+ <visual>
+ <size>0.20 0.20 1.0</size>
+ <material>PR2/Blue</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ </body:cylinder>
+
+ <body:cylinder name="object105_4_body">
+ <xyz>0 0.2 -1.0</xyz>
+ <rpy>0 0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>50</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>0.0</cz>
+ <turnGravityOff>true</turnGravityOff>
+ <geom:cylinder name="object105_4_geom">
+ <xyz>0.0 0.0 0.0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mu1>500.0</mu1>
+ <mesh>default</mesh>
+ <size>0.10 0.5</size>
+ <visual>
+ <size>0.20 0.20 1.0</size>
+ <material>PR2/Blue</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ </body:cylinder>
+
+ <joint:hinge name="l_leg_joint">
+ <body1>object105_2_body</body1>
+ <body2>object105_3_body</body2>
+ <anchor>object105_2_body</anchor>
+ <lowStop>0</lowStop>
+ <highStop>0</highStop>
+ <axis>0 1 0</axis>
+ </joint:hinge>
+
+ <joint:hinge name="r_leg_joint">
+ <body1>object105_2_body</body1>
+ <body2>object105_4_body</body2>
+ <anchor>object105_2_body</anchor>
+ <lowStop>0</lowStop>
+ <highStop>0</highStop>
+ <axis>0 1 0</axis>
+ </joint:hinge>
+
+ <controller:ros_p3d name="p3d_object_controller" plugin="libros_p3d.so">
+ <updateRate>100.0</updateRate>
+ <bodyName>object105_1_body</bodyName>
+ <topicName>object105_1_body_ground_truth</topicName>
+ <frameName>object105_1_body_ground_truth_frame</frameName>
+ <interface:position name="p3d_object_position"/>
+ </controller:ros_p3d>
+
+</model:physical>
+
+
+
Modified: pkg/trunk/stacks/pr2/pr2_ogre/Media/materials/scripts/pr2.material
===================================================================
--- pkg/trunk/stacks/pr2/pr2_ogre/Media/materials/scripts/pr2.material 2009-08-07 20:07:52 UTC (rev 21037)
+++ pkg/trunk/stacks/pr2/pr2_ogre/Media/materials/scripts/pr2.material 2009-08-07 20:11:16 UTC (rev 21038)
@@ -214,6 +214,20 @@
}
}
+material PR2/Face
+{
+ technique
+ {
+ pass
+ {
+ texture_unit
+ {
+ texture face_texture.jpg
+ }
+ }
+ }
+}
+
material PR2/Jack
{
technique
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