Revision: 8768
http://playerstage.svn.sourceforge.net/playerstage/?rev=8768&view=rev
Author: natepak
Date: 2010-06-20 19:34:02 +0000 (Sun, 20 Jun 2010)
Log Message:
-----------
Updates to the plugins
Modified Paths:
--------------
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
code/gazebo/branches/simpar/plugins/pioneer_line.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-19
07:53:59 UTC (rev 8767)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-20
19:34:02 UTC (rev 8768)
@@ -2,7 +2,7 @@
#include <gazebo/gazeboserver.hh>
-#define LOG true
+#define LOG false
namespace gazebo
{
@@ -11,15 +11,15 @@
{
public: PioneerCircle() : Handler()
{
- for (double i=0.001; i > 1e-5; i*=0.5)
- this->stepTimes.push_back(i);
+ //for (double i=0.001; i > 1e-5; i*=0.5)
+ this->stepTimes.push_back(0.001);
- for (unsigned int i=10; i<=100; i+=10)
- this->stepIters.push_back(i);
+ //for (unsigned int i=10; i<=100; i+=10)
+ this->stepIters.push_back(10);
+ //this->stepTypes.push_back("world");
this->stepTypes.push_back("quick");
- this->stepTypes.push_back("robust");
- this->stepTypes.push_back("world");
+ //this->stepTypes.push_back("robust");
this->stepTypesIter = this->stepTypes.begin();
this->stepTimesIter = this->stepTimes.begin();
@@ -32,7 +32,7 @@
if (LOG)
{
- this->indexFile = fopen(std::string(this->path + "index.txt").c_str(),
"w");
+ this->indexFile = fopen(std::string(this->path + "index.txt").c_str(),
"a");
fprintf(this->indexFile, "# index step_type step_time
step_iterations\n");
}
}
@@ -134,6 +134,7 @@
{
if (LOG)
{
+ printf("HERE. Count[%d]\n", this->count);
Logger::Instance()->RemoveLog("pioneer");
std::string mv_cmd = std::string("mv /tmp/pioneer.log ") + this->path
+
Modified: code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-06-19
07:53:59 UTC (rev 8767)
+++ code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-06-20
19:34:02 UTC (rev 8768)
@@ -2,7 +2,7 @@
#include <boost/bind.hpp>
#include <gazebo/gazeboserver.hh>
-#define LOG false
+#define LOG true
namespace gazebo
{
@@ -13,14 +13,15 @@
{
//for (double i=0.001; i > 1e-5; i*=0.5)
//this->stepTimes.push_back(i);
- this->stepTimes.push_back(0.00001);
+ this->stepTimes.push_back(0.0001);
- for (unsigned int i=10; i<=100; i+=10)
- this->stepIters.push_back(i);
+ //for (unsigned int i=10; i<=100; i+=10)
+ //this->stepIters.push_back(10);
+ this->stepIters.push_back(10);
- this->stepTypes.push_back("quick");
- this->stepTypes.push_back("robust");
+ //this->stepTypes.push_back("quick");
this->stepTypes.push_back("world");
+ //this->stepTypes.push_back("robust");
this->stepTypesIter = this->stepTypes.begin();
this->stepTimesIter = this->stepTimes.begin();
@@ -29,11 +30,11 @@
this->path = std::string("/home/nate/work/simpar/data/pioneer_gripper/");
system( (std::string("mkdir -p ") + this->path).c_str() );
- this->count = 0;
+ this->count = 1;
if (LOG)
{
- this->indexFile = fopen(std::string(this->path + "index.txt").c_str(),
"w");
+ this->indexFile = fopen(std::string(this->path + "index.txt").c_str(),
"a");
fprintf(this->indexFile, "# index step_type step_time
step_iterations\n");
}
}
@@ -58,12 +59,15 @@
}
}
this->robot->Reset();
+ this->box->Reset();
}
public: void Load()
{
std::string model_name = "pioneer_gripper";
this->robot = (Model*)World::Instance()->GetEntityByName(model_name);
+ this->box = (Model*)World::Instance()->GetEntityByName("custom_box");
+ Simulator::Instance()->SetPaused(false);
if (this->robot)
{
@@ -85,19 +89,19 @@
Logger::Instance()->AddLog("custom_box","/tmp/box.log");
}
- /*this->physics->SetStepTime( *this->stepTimesIter );
+ this->physics->SetStepTime( *this->stepTimesIter );
this->physics->SetStepType( *this->stepTypesIter );
this->physics->SetSORPGSIters( *this->stepItersIter );
std::cout << "Type[" << *this->stepTypesIter << "] "
<< "Time[" << *this->stepTimesIter << "] "
<< "Iters[" << *this->stepItersIter << "]\n";
- */
}
else
std::cerr << "Unable to find model[" << model_name << "]\n";
this->spawned = false; this->leftForce = 0;
this->rightForce = 0;
+ this->resetCounter = 10;
}
public: void Open()
@@ -143,8 +147,21 @@
return fabs(diff) < 0.130;
}
+ public: bool IsUp()
+ {
+ return this->liftBody->GetWorldPose().pos.z > 0.08;
+ }
+
public: void UpdateCB()
{
+ if (this->resetCounter > 0)
+ {
+ this->resetCounter--;
+ return;
+ }
+ else
+ Simulator::Instance()->SetPaused(false);
+
Time simTime = Simulator::Instance()->GetSimTime();
this->leftPaddle->SetForce(Vector3(0.0,this->leftForce,0.0));
@@ -158,13 +175,14 @@
this->Lift();
}
- if (simTime - this->prevTime > Time(60,0))
+ //if (!this->IsClosed() || !this->IsUp())
+ //this->prevTime = simTime;
+
+ if (simTime - this->prevTime > Time(35,0))
{
- Logger::Instance()->RemoveLog("pioneer_gripper::left_paddle_body");
- Logger::Instance()->RemoveLog("pioneer_gripper::right_paddle_body");
- Logger::Instance()->RemoveLog("custom_box");
- printf("Done\n");
- delete this;
+ std::cout << "Done\n";
+ //delete this;
+ this->UpdateJob();
}
}
@@ -173,17 +191,24 @@
{
if (LOG)
{
- Logger::Instance()->RemoveLog("pioneer");
+ Logger::Instance()->RemoveLog("pioneer_gripper::left_paddle_body");
+ Logger::Instance()->RemoveLog("pioneer_gripper::right_paddle_body");
+ Logger::Instance()->RemoveLog("custom_box");
- std::string mv_cmd = std::string("mv /tmp/pioneer.log ") + this->path
+
- "pioneer_line_" + boost::lexical_cast<std::string>(this->count) +
- ".data";
+ std::string mv_cmd;
+
+ mv_cmd = std::string("mv /tmp/pioneer_left.log ") + this->path +
"pioneer_gripper_left_" + boost::lexical_cast<std::string>(this->count) +
".data";
+ system(mv_cmd.c_str());
+ mv_cmd = std::string("mv /tmp/pioneer_right.log ") + this->path +
"pioneer_gripper_right_" + boost::lexical_cast<std::string>(this->count) +
".data";
+ system(mv_cmd.c_str());
+
+ mv_cmd = std::string("mv /tmp/box.log ") + this->path + "box_" +
boost::lexical_cast<std::string>(this->count) + ".data";
+ system(mv_cmd.c_str());
+
fprintf(this->indexFile,"%d %s %f %d\n",this->count,
(*this->stepTypesIter).c_str(), *this->stepTimesIter,
*this->stepItersIter);
-
- system(mv_cmd.c_str());
}
this->stepItersIter++;
@@ -203,7 +228,7 @@
}
}
- this->physics->SetStepType( *this->stepTypesIter );
+ /*this->physics->SetStepType( *this->stepTypesIter );
this->physics->SetStepTime( *this->stepTimesIter );
this->physics->SetSORPGSIters( *this->stepItersIter );
@@ -213,11 +238,17 @@
<< "Iters[" << *this->stepItersIter << "] "
<< "Count[" << this->count << "]\n";
+ //Simulator::Instance()->SetPaused(true);
this->robot->Reset();
+ this->box->Reset();
+ this->resetCounter = 10;
this->prevTime = Simulator::Instance()->GetSimTime();
+ */
+ delete this;
- if (LOG)
+ /*if (LOG)
Logger::Instance()->AddLog("pioneer","/tmp/pioneer.log");
+ */
}
private: std::vector<unsigned int> stepIters;
@@ -231,11 +262,12 @@
private: std::string path;
private: unsigned int count;
- private: Model *robot;
+ private: Model *robot, *box;
private: Body *leftPaddle, *rightPaddle, *liftBody;
private: FILE *indexFile;
private: Time prevTime;
private: PhysicsEngine *physics;
+ private: int resetCounter;
private: bool spawned;
Modified: code/gazebo/branches/simpar/plugins/pioneer_line.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_line.cc 2010-06-19 07:53:59 UTC
(rev 8767)
+++ code/gazebo/branches/simpar/plugins/pioneer_line.cc 2010-06-20 19:34:02 UTC
(rev 8768)
@@ -11,15 +11,15 @@
{
public: PioneerLine() : Handler()
{
- for (double i=0.001; i > 1e-5; i*=0.5)
- this->stepTimes.push_back(i);
+ //for (double i=0.001; i > 1e-5; i*=0.5)
+ this->stepTimes.push_back(0.001);
for (unsigned int i=10; i<=100; i+=10)
this->stepIters.push_back(i);
+ this->stepTypes.push_back("quick");
+ this->stepTypes.push_back("world");
this->stepTypes.push_back("robust");
- this->stepTypes.push_back("world");
- this->stepTypes.push_back("quick");
this->stepTypesIter = this->stepTypes.begin();
this->stepTimesIter = this->stepTimes.begin();
@@ -99,8 +99,8 @@
if (simTime - prevTime < Time(0,100000000))
{
- this->leftWheel->SetTorque(Vector3(0.0,0.0,.1));
- this->rightWheel->SetTorque(Vector3(0.0,0.0,.1));
+ this->leftWheel->SetTorque(Vector3(0.0,0.0,0.1));
+ this->rightWheel->SetTorque(Vector3(0.0,0.0,0.1));
}
else if (simTime - prevTime >= Time(20,0))
this->UpdateJob();
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-06-19 07:53:59 UTC
(rev 8767)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-06-20 19:34:02 UTC
(rev 8768)
@@ -51,8 +51,8 @@
<body:plane name="plane1_body">
<geom:plane name="plane1_geom">
<normal>0 0 1</normal>
- <mu1>50.0</mu1>
- <mu2>50.0</mu2>
+ <mu1>100000.0</mu1>
+ <mu2>100000.0</mu2>
<kp>1000000000.0</kp>
<kd>1.0</kd>
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world 2010-06-19
07:53:59 UTC (rev 8767)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world 2010-06-20
19:34:02 UTC (rev 8768)
@@ -19,15 +19,15 @@
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.01</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>robust</stepType>
- <stepIters>20</stepIters>
- <stepW>.3</stepW>
- <contactMaxCorrectingVel>1.0</contactMaxCorrectingVel>
+ <stepType>quick</stepType>
+ <stepIters>100</stepIters>
+ <stepW>1.3</stepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.00</contactSurfaceLayer>
</physics:ode>
@@ -87,13 +87,13 @@
<rpy>0.0 0.0 0.0</rpy>
<body:box name="gripper_base_body">
- <xyz>0.0 0 0.115</xyz>
+ <xyz>0.0 0 0.08</xyz>
<geom:box name="gripper_base_geom">
<xyz>0 0 0</xyz>
- <size>0.053 0.123 0.130</size>
+ <size>0.053 0.123 0.16</size>
<mass>10.1</mass>
<visual>
- <size>0.053 0.123 0.130</size>
+ <size>0.053 0.123 0.16</size>
<mesh>unit_box</mesh>
<material>Gazebo/Black</material>
</visual>
@@ -101,7 +101,7 @@
</body:box>
<body:box name="lift_body">
- <xyz>0.061 0 0.0315</xyz>
+ <xyz>0.061 0 0.0425</xyz>
<geom:box name="lift_geom">
<xyz>0 0 0</xyz>
<size>0.069 0.313 0.063</size>
@@ -143,7 +143,7 @@
</geom:box>
</body:box>
- <joint:hinge name="fixed">
+ <!--<joint:hinge name="fixed">
<body1>gripper_base_body</body1>
<body2>world</body2>
<anchor>gripper_base_body</anchor>
@@ -154,6 +154,7 @@
<erp>0.4</erp>
<cfm>0.01</cfm>
</joint:hinge>
+ -->
<joint:slider name="lift_slider_joint">
<body1>gripper_base_body</body1>
@@ -161,7 +162,7 @@
<anchor>gripper_base_body</anchor>
<axis>0 0 1</axis>
<lowStop>-0.05</lowStop>
- <highStop>0.05</highStop>
+ <highStop>0.0</highStop>
<erp>0.3</erp>
<cfm>10e-5</cfm>
</joint:slider>
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