Revision: 8757
http://playerstage.svn.sourceforge.net/playerstage/?rev=8757&view=rev
Author: natepak
Date: 2010-06-09 15:50:46 +0000 (Wed, 09 Jun 2010)
Log Message:
-----------
Updated the pioneer2 gripper
Modified Paths:
--------------
code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model
code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world
Modified: code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model
===================================================================
--- code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model
2010-06-09 15:28:40 UTC (rev 8756)
+++ code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model
2010-06-09 15:50:46 UTC (rev 8757)
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!-- Generic Pioneer2dx Model -->
-<model:physical name="default_pioneer_model"
+<model:physical name="pioneer_gripper"
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";
@@ -12,18 +12,18 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
>
-<xyz>0 0 0.0</xyz>
+<xyz>0 0 0.065</xyz>
<rpy>0.0 0.0 0.0</rpy>
<canonicalBody>gripper_base_body</canonicalBody>
<body:box name="gripper_base_body">
- <xyz>0.0 0 0.065</xyz>
+ <xyz>0.0 0 0.0</xyz>
<geom:box name="gripper_base_geom">
<xyz>0 0 0</xyz>
<size>0.053 0.123 0.130</size>
- <mass>0.1</mass>
+ <mass>10.1</mass>
<visual>
<size>0.053 0.123 0.130</size>
@@ -89,7 +89,7 @@
-->
</body:box>
-<joint:hinge name="fixed">
+<!--<joint:hinge name="fixed">
<body1>gripper_base_body</body1>
<body2>world</body2>
<anchor>gripper_base_body</anchor>
@@ -100,6 +100,7 @@
<erp>0.4</erp>
<cfm>0.01</cfm>
</joint:hinge>
+-->
<joint:slider name="lift_slider_joint">
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world 2010-06-09
15:28:40 UTC (rev 8756)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world 2010-06-09
15:50:46 UTC (rev 8757)
@@ -24,8 +24,8 @@
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>robust</stepType>
- <stepIters>10</stepIters>
+ <stepType>world</stepType>
+ <stepIters>100</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.00</contactSurfaceLayer>
@@ -59,34 +59,117 @@
</body:plane>
</model:physical>
- <!--<model:physical name="pioneer2dx_model1">
- <xyz>0 0 0.148</xyz>
+ <model:physical name="pioneer_gripper">
+ <xyz>0 0 0.065</xyz>
<rpy>0.0 0.0 0.0</rpy>
+
+ <body:box name="gripper_base_body">
+ <xyz>0.0 0 0.0</xyz>
+ <geom:box name="gripper_base_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.053 0.123 0.130</size>
+ <mass>10.1</mass>
+ <visual>
+ <size>0.053 0.123 0.130</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <body:box name="lift_body">
+ <xyz>0.061 0 0</xyz>
+ <geom:box name="lift_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.069 0.313 0.063</size>
+ <mass>0.1</mass>
+ <visual>
+ <size>0.069 0.313 0.063</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <body:box name="left_paddle_body">
+ <xyz>0.145 0.0135 0</xyz>
+ <geom:box name="left_paddle_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.095 0.025 0.039</size>
+ <mass>0.1</mass>
+ <visual>
+ <size>0.095 0.025 0.039</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Blue</material>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <body:box name="right_paddle_body">
+ <xyz>0.145 -0.0135 0</xyz>
+ <geom:box name="right_paddle_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.095 0.025 0.039</size>
+ <mass>0.1</mass>
+
+ <visual>
+ <size>0.095 0.025 0.039</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Red</material>
+ </visual>
+ </geom:box>
+ </body:box>
+
+ <!--<joint:hinge name="fixed">
+ <body1>gripper_base_body</body1>
+ <body2>world</body2>
+ <anchor>gripper_base_body</anchor>
+ <anchorOffset>0 0 -0.130</anchorOffset>
+ <axis>0 0 1</axis>
+ <lowStop>0</lowStop>
+ <highStop>0</highStop>
+ <erp>0.4</erp>
+ <cfm>0.01</cfm>
+ </joint:hinge>
-->
+
+
+ <joint:slider name="lift_slider_joint">
+ <body1>gripper_base_body</body1>
+ <body2>lift_body</body2>
+ <anchor>gripper_base_body</anchor>
+ <axis>0 0 1</axis>
+ <lowStop>-0.1</lowStop>
+ <highStop>0.1</highStop>
+ <erp>0.3</erp>
+ <cfm>10e-5</cfm>
+ </joint:slider>
+
+ <joint:slider name="left_paddle_joint">
+ <body1>lift_body</body1>
+ <body2>left_paddle_body</body2>
+ <anchor>lift_body</anchor>
+ <anchorOffset>0.085 0 0 </anchorOffset>
+ <axis>0 1 0</axis>
+ <lowStop>-0.12</lowStop>
+ <highStop>0.0</highStop>
+ <erp>0.1</erp>
+ <cfm>10e-5</cfm>
+ </joint:slider>
+
+ <joint:slider name="right_paddle_joint">
+ <body1>lift_body</body1>
+ <body2>right_paddle_body</body2>
+ <anchor>lift_body</anchor>
+ <anchorOffset>0.085 0 0 </anchorOffset>
+ <axis>0 1 0</axis>
+ <lowStop>0.0</lowStop>
+ <highStop>0.12</highStop>
+ <erp>0.1</erp>
+ <cfm>10e-5</cfm>
+ </joint:slider>
+ </model:physical>
- <model:physical name="pioneer_gripper">
- <!--<xyz>0.228 0 -0.025</xyz>-->
- <xyz>0 0 0.148</xyz>
- <!--<attach>
- <parentBody>chassis_body</parentBody>
- <myBody>gripper_base_body</myBody>
- </attach>
- -->
- <include embedded = "true">
- <xi:include href="models/pioneer2gripper.model"/>
- </include>
- </model:physical>
-
- <!--
- The include should be last within a model. All previous statements
- will override those in the included file
- -->
- <!--<include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
- -->
- <!--</model:physical>-->
-
<!-- White Directional light -->
<model:renderable name="directional_white">
<static>false</static>
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