[Personalrobots-commit] SF.net SVN: personalrobots:[23004] pkg/trunk

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Revision: 23004
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23004&view=rev
Author:   hsujohnhsu
Date:     2009-08-26 19:17:59 +0000 (Wed, 26 Aug 2009)

Log Message:
-----------
update plug demo in sim.

Modified Paths:
--------------
    pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
    pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch
    pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml
    pkg/trunk/robot_descriptions/gazebo_worlds/Media/materials/textures/plug_texture.jpg
    pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_defs.urdf.xacro
    pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_gazebo.xacro

Modified: pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch
===================================================================

--- pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch	2009-08-26 19:07:07 UTC (rev 23003)
+++ pkg/trunk/demos/door_demos_gazebo/launch/pr2_and_door.launch	2009-08-26 19:17:59 UTC (rev 23004)
@@ -3,7 +3,7 @@
   <!-- start gazebo -->
   <include file="$(find gazebo)/launch/empty_world.launch"/>
 
-  <!-- load pr2 -->
+  <!-- load prf -->
   <include file="$(find pr2_defs)/launch/upload_prf.launch" />
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false"  />
 

Modified: pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch	2009-08-26 19:07:07 UTC (rev 23003)
+++ pkg/trunk/demos/plug_in_gazebo/launch/pr2_plug_outlet.launch	2009-08-26 19:17:59 UTC (rev 23004)
@@ -8,7 +8,7 @@
   <node pkg="gazebo_tools" type="urdf2factory" args="robot_description_new" respawn="false" output="screen" />
 
   <param name="plug_description" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/plug_only.xacro.xml'" />
-  <node pkg="gazebo_tools" type="urdf2factory" args="plug_description 0 0 0 0 0 0 plug" respawn="false" output="screen" />
+  <node pkg="gazebo_tools" type="urdf2factory" args="plug_description" respawn="false" output="screen" />
 
   <param name="outlet_description" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/outlet_only.xacro.xml'" />
   <node pkg="gazebo_tools" type="urdf2factory" args="outlet_description 0 0 0 0 0 0 outlet" respawn="false" output="screen" />

Modified: pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml	2009-08-26 19:07:07 UTC (rev 23003)
+++ pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml	2009-08-26 19:17:59 UTC (rev 23004)
@@ -15,17 +15,17 @@
 
   <property name="M_PI" value="3.1415926535897931" />
 
-  <property name="plug_x_loc" value="0.25" />
+  <property name="plug_x_loc" value="0.1968" />
   <property name="plug_y_loc" value="0.0" />
-  <property name="plug_z_loc" value="0.282" />
-  <property name="plug_x_size" value="0.07" />
-  <property name="plug_y_size" value="0.025" />
+  <property name="plug_z_loc" value="0.341" />
+  <property name="plug_x_size" value="0.025" />
+  <property name="plug_y_size" value="0.06" />
   <property name="plug_z_size" value="0.03" />
 
   <!-- joint blocks -->
   <joint name="plug_joint" type="planar" >
     <parent link="world" />
-    <origin xyz="${plug_x_loc} ${plug_y_loc} ${plug_z_loc}" rpy="0 0 ${-M_PI/2}" />
+    <origin xyz="${plug_x_loc} ${plug_y_loc} ${plug_z_loc}" rpy="0 0 0" />
     <child link="plug_link" />
   </joint>
 
@@ -33,7 +33,7 @@
   <link name="plug_link">
     <inertial>
       <mass value="0.1" />
-      <com xyz="0 0 0.0" />
+      <origin xyz="0 0 0.0" />
       <inertia ixx="1.0" ixy="0"  ixz="0"
                iyy="1.0" iyz="0"
                izz="1.0" />
@@ -58,7 +58,7 @@
     <mu2>500.0</mu2>
     <kp>100000000.0</kp>
     <kd>1.0</kd>
-    <turnGravityOff>true</turnGravityOff>
+    <turnGravityOff>false</turnGravityOff>
     <selfCollide>true</selfCollide>
     <dampingFactor>0.5</dampingFactor>
   </gazebo>

Modified: pkg/trunk/robot_descriptions/gazebo_worlds/Media/materials/textures/plug_texture.jpg
===================================================================
(Binary files differ)

Modified: pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_defs.urdf.xacro
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_defs.urdf.xacro	2009-08-26 19:07:07 UTC (rev 23003)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_defs.urdf.xacro	2009-08-26 19:17:59 UTC (rev 23004)
@@ -193,51 +193,126 @@
     </link>
 
 
+    <pr2_caster suffix="fl" parent="${name}_link">
+      <origin xyz="${caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </pr2_caster>
+    <pr2_caster suffix="fr" parent="${name}_link">
+      <origin xyz="${caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </pr2_caster>
+    <pr2_caster suffix="bl" parent="${name}_link">
+      <origin xyz="${-caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </pr2_caster>
+    <pr2_caster suffix="br" parent="${name}_link">
+      <origin xyz="${-caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
+    </pr2_caster>
+
+    <!-- gazebo extensions -->
+    <pr2_base_gazebo name="${name}" />
+
     <!-- modeling plug on base holder magnet location -->
-    <joint name="plug_magnet_joint" type="fixed">
+    <pr2_plug_holder name="${name}"/>
+
+  </macro>
+
+
+  <macro name="pr2_plug_holder" params="name">
+    <joint name="plug_holder_1_joint" type="fixed">
       <origin xyz="0.18 0 ${base_height_offset+0.235}" rpy="0 0 0" />
       <parent link="${name}_link"/>
-      <child link="plug_magnet"/>
+      <child link="plug_holder_1"/>
     </joint>
-    <link name="plug_magnet" type="laser">
+    <link name="plug_holder_1">
       <inertial>
         <mass value="0.1" />
         <origin xyz="0 0 0.0" />
         <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
       </inertial>
-      <visual name="plug_mavisual">
+      <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry name="plug_magnet_visual_geom">
+        <geometry>
           <box size="0.001 0.001 0.001"/>
         </geometry>
       </visual>
-      <collision name="plug_macollision">
+      <collision>
         <origin xyz="0 0 0.0" rpy="0 0 0" />
-        <geometry name="plug_magnet_collision_geom">
+        <geometry>
           <box size=".001 .001 .001" />
         </geometry>
       </collision>
     </link>
-
-    <pr2_caster suffix="fl" parent="${name}_link">
-      <origin xyz="${caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
-    </pr2_caster>
-    <pr2_caster suffix="fr" parent="${name}_link">
-      <origin xyz="${caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
-    </pr2_caster>
-    <pr2_caster suffix="bl" parent="${name}_link">
-      <origin xyz="${-caster_offset_x} ${caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
-    </pr2_caster>
-    <pr2_caster suffix="br" parent="${name}_link">
-      <origin xyz="${-caster_offset_x} ${-caster_offset_y} ${caster_offset_z}" rpy="0 0 0" />
-    </pr2_caster>
-
-    <!-- gazebo extensions -->
-    <pr2_base_gazebo name="${name}" />
-
+    <joint name="plug_holder_2_joint" type="fixed">
+      <origin xyz="0.21 0 ${base_height_offset+0.235}" rpy="0 0 0" />
+      <parent link="${name}_link"/>
+      <child link="plug_holder_2"/>
+    </joint>
+    <link name="plug_holder_2">
+      <inertial>
+        <mass value="0.1" />
+        <origin xyz="0 0 0.0" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0.0" rpy="0 0 0" />
+        <geometry>
+          <box size=".001 .001 .001" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="plug_holder_3_joint" type="fixed">
+      <origin xyz="0.20 -.04 ${base_height_offset+0.235}" rpy="0 0 0" />
+      <parent link="${name}_link"/>
+      <child link="plug_holder_3"/>
+    </joint>
+    <link name="plug_holder_3">
+      <inertial>
+        <mass value="0.1" />
+        <origin xyz="0 0 0.0" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0.0" rpy="0 0 0" />
+        <geometry>
+          <box size=".001 .001 .001" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="plug_holder_4_joint" type="fixed">
+      <origin xyz="0.20 0.04 ${base_height_offset+0.235}" rpy="0 0 0" />
+      <parent link="${name}_link"/>
+      <child link="plug_holder_4"/>
+    </joint>
+    <link name="plug_holder_4">
+      <inertial>
+        <mass value="0.1" />
+        <origin xyz="0 0 0.0" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0.0" rpy="0 0 0" />
+        <geometry>
+          <box size=".001 .001 .001" />
+        </geometry>
+      </collision>
+    </link>
   </macro>
 
 
-
-
 </robot>

Modified: pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_gazebo.xacro
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_gazebo.xacro	2009-08-26 19:07:07 UTC (rev 23003)
+++ pkg/trunk/stacks/pr2_common/pr2_defs/defs/base/base_gazebo.xacro	2009-08-26 19:17:59 UTC (rev 23004)
@@ -66,16 +66,16 @@
         <rpyOffsets>0 0 0</rpyOffsets>
         <interface:position name="p3d_base_position"/>
       </controller:ros_p3d>
-      <controller:ros_p3d name="p3d_plug_magnet_controller" plugin="libros_p3d.so">
+      <controller:ros_p3d name="p3d_plug_holder_1_controller" plugin="libros_p3d.so">
         <alwaysOn>true</alwaysOn>
         <updateRate>100.0</updateRate>
-        <bodyName>plug_magnet</bodyName>
-        <topicName>plug_magnet_pose_ground_truth</topicName>
+        <bodyName>plug_holder_1</bodyName>
+        <topicName>plug_holder_1_pose_ground_truth</topicName>
         <gaussianNoise>0.01</gaussianNoise>
         <frameName>map</frameName>
         <xyzOffsets>0 0 0</xyzOffsets> <!-- initialize odometry for fake localization-->
         <rpyOffsets>0 0 0</rpyOffsets>
-        <interface:position name="p3d_plug_magnet_position"/>
+        <interface:position name="p3d_plug_holder_1_position"/>
       </controller:ros_p3d>
     </gazebo>
 
@@ -110,9 +110,18 @@
 
     <!-- modeling plug on base holder magnet location -->
 
-    <gazebo reference="plug_magnet">
+    <gazebo reference="plug_holder_1">
       <material value="PR2/Red" />
     </gazebo>
+    <gazebo reference="plug_holder_2">
+      <material value="PR2/Red" />
+    </gazebo>
+    <gazebo reference="plug_holder_3">
+      <material value="PR2/Red" />
+    </gazebo>
+    <gazebo reference="plug_holder_4">
+      <material value="PR2/Red" />
+    </gazebo>
 
 
   </macro>


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