Revision: 8929
http://playerstage.svn.sourceforge.net/playerstage/?rev=8929&view=rev
Author: natepak
Date: 2010-10-01 21:57:32 +0000 (Fri, 01 Oct 2010)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/branches/simpar/player/CMakeLists.txt
code/gazebo/branches/simpar/plugins/ball_drop.cc
code/gazebo/branches/simpar/plugins/box_push.cc
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/server/Logger.cc
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/simpar/worlds/empty.world
code/gazebo/branches/simpar/worlds/pioneer2dx.world
code/gazebo/branches/simpar/worlds/pioneer2dx_ramp.world
code/gazebo/branches/simpar/worlds/simpleshapes.world
Modified: code/gazebo/branches/simpar/player/CMakeLists.txt
===================================================================
--- code/gazebo/branches/simpar/player/CMakeLists.txt 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/player/CMakeLists.txt 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -1,31 +1,30 @@
-
-set (gazeboplugin_sources GazeboDriver.cc
- GazeboClient.cc
- GazeboInterface.cc
- GazeboTime.cc
- SimulationInterface.cc
- Position2dInterface.cc
- Position3dInterface.cc
- LaserInterface.cc
- CameraInterface.cc
- FiducialInterface.cc
- PTZInterface.cc
- OpaqueInterface.cc
- ActarrayInterface.cc
- GripperInterface.cc
- BumperInterface.cc
- IRInterface.cc
-)
-
-include_directories(
- ${PLAYER_INCLUDE_DIRS}
- ${CMAKE_SOURCE_DIR}/libgazebo
- ${boost_include_dirs}
-)
-
-link_directories( ${PLAYER_LINK_DIRS} ${boost_library_dirs} gazeboshm)
-
-add_library(gazeboplugin SHARED ${gazeboplugin_sources})
-target_link_libraries(gazeboplugin ${PLAYER_LINK_LIBS} gazeboshm )
-
-install(TARGETS gazeboplugin DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+#set (gazeboplugin_sources GazeboDriver.cc
+# GazeboClient.cc
+# GazeboInterface.cc
+# GazeboTime.cc
+# SimulationInterface.cc
+# Position2dInterface.cc
+# Position3dInterface.cc
+# LaserInterface.cc
+# CameraInterface.cc
+# FiducialInterface.cc
+# PTZInterface.cc
+# OpaqueInterface.cc
+# ActarrayInterface.cc
+# GripperInterface.cc
+# BumperInterface.cc
+# IRInterface.cc
+#)
+#
+#include_directories(
+# ${PLAYER_INCLUDE_DIRS}
+# ${CMAKE_SOURCE_DIR}/libgazebo
+# ${boost_include_dirs}
+#)
+#
+#link_directories( ${PLAYER_LINK_DIRS} ${boost_library_dirs} gazeboshm)
+#
+#add_library(gazeboplugin SHARED ${gazeboplugin_sources})
+#target_link_libraries(gazeboplugin ${PLAYER_LINK_LIBS} gazeboshm )
+#
+#install(TARGETS gazeboplugin DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
Modified: code/gazebo/branches/simpar/plugins/ball_drop.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/ball_drop.cc 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/plugins/ball_drop.cc 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -12,17 +12,17 @@
{
this->sphere = NULL;
this->model_name = "sphere";
- //this->SpawnBall(0,0,5);
+ this->SpawnBall(0,0,5);
//for (double i=0.001; i > 1e-5; i*=0.5)
- this->stepTimes.push_back(0.1);
+ this->stepTimes.push_back(0.001);
//for (unsigned int i=10; i<=100; i+=10)
- this->stepIters.push_back(10);
+ this->stepIters.push_back(100);
- //this->stepTypes.push_back("robust");
+ this->stepTypes.push_back("robust");
this->stepTypes.push_back("world");
- //this->stepTypes.push_back("quick");
+ this->stepTypes.push_back("quick");
this->stepTypesIter = this->stepTypes.begin();
this->stepTimesIter = this->stepTimes.begin();
@@ -73,7 +73,7 @@
model << " <body:sphere name='body'>";
model << " <geom:sphere name='geom'>";
model << " <size>0.25</size>";
- model << " <mass>10</mass>";
+ model << " <mass>1</mass>";
model << " <kp>100000000.0</kp>";
model << " <kd>1.0</kd>";
model << " <bounce>0</bounce>";
@@ -137,7 +137,8 @@
Time realTime = Simulator::Instance()->GetRealTime();
Pose3d pose = this->sphere->GetWorldPose();
- if ( fabs(prev_z - pose.pos.z) >= 1e-5 )
+ double diff = fabs(prev_z - pose.pos.z);
+ if ( diff >= 1e-4 )
this->prevTime = realTime;
this->prev_z = pose.pos.z;
@@ -153,7 +154,7 @@
{
if (LOG)
{
- // Logger::Instance()->RemoveLog("sphere");
+ Logger::Instance()->RemoveLog("sphere");
std::string mv_cmd = std::string("mv /tmp/sphere.log ") + this->path +
"ball_drop_" + boost::lexical_cast<std::string>(this->count) +
@@ -163,7 +164,7 @@
(*this->stepTypesIter).c_str(), *this->stepTimesIter,
*this->stepItersIter);
- //system(mv_cmd.c_str());
+ system(mv_cmd.c_str());
}
this->stepItersIter++;
@@ -193,12 +194,11 @@
<< "Iters[" << *this->stepItersIter << "] "
<< "Count[" << this->count << "]\n";
- //this->sphere->Reset();
+ this->sphere->Reset();
this->prevTime = Simulator::Instance()->GetRealTime();
- /*if (LOG)
+ if (LOG)
Logger::Instance()->AddLog("sphere","/tmp/sphere.log");
- */
}
private: std::vector<unsigned int> stepIters;
Modified: code/gazebo/branches/simpar/plugins/box_push.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/box_push.cc 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/plugins/box_push.cc 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -2,7 +2,7 @@
#include <gazebo/gazeboserver.hh>
-#define LOG true
+#define LOG false
namespace gazebo
{
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-10-01
21:56:40 UTC (rev 8928)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-10-01
21:57:32 UTC (rev 8929)
@@ -2,7 +2,7 @@
#include <gazebo/gazeboserver.hh>
-#define LOG false
+#define LOG true
namespace gazebo
{
@@ -17,9 +17,9 @@
//for (unsigned int i=10; i<=100; i+=10)
this->stepIters.push_back(10);
+ this->stepTypes.push_back("robust");
//this->stepTypes.push_back("world");
- this->stepTypes.push_back("quick");
- //this->stepTypes.push_back("robust");
+ //this->stepTypes.push_back("quick");
this->stepTypesIter = this->stepTypes.begin();
this->stepTimesIter = this->stepTimes.begin();
Modified: code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-10-01
21:56:40 UTC (rev 8928)
+++ code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-10-01
21:57:32 UTC (rev 8929)
@@ -2,7 +2,7 @@
#include <boost/bind.hpp>
#include <gazebo/gazeboserver.hh>
-#define LOG true
+#define LOG false
namespace gazebo
{
@@ -13,15 +13,15 @@
{
//for (double i=0.001; i > 1e-5; i*=0.5)
//this->stepTimes.push_back(i);
- this->stepTimes.push_back(0.0001);
+ this->stepTimes.push_back(0.001);
//for (unsigned int i=10; i<=100; i+=10)
//this->stepIters.push_back(10);
- this->stepIters.push_back(10);
+ this->stepIters.push_back(100);
//this->stepTypes.push_back("quick");
- this->stepTypes.push_back("world");
- //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();
Modified: code/gazebo/branches/simpar/plugins/pioneer_line.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_line.cc 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/plugins/pioneer_line.cc 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -14,11 +14,11 @@
//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("quick");
- this->stepTypes.push_back("world");
+ //this->stepTypes.push_back("quick");
+ //this->stepTypes.push_back("world");
this->stepTypes.push_back("robust");
this->stepTypesIter = this->stepTypes.begin();
Modified: code/gazebo/branches/simpar/server/Logger.cc
===================================================================
--- code/gazebo/branches/simpar/server/Logger.cc 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/server/Logger.cc 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -133,8 +133,6 @@
}
else
this->logFile << "0 ";
-
- this->logFile << "\n";
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-10-01 21:56:40 UTC (rev 8928)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-10-01 21:57:32 UTC (rev 8929)
@@ -224,85 +224,7 @@
std::vector<ContactFeedback>::iterator iter;
std::vector<dJointFeedback>::iterator jiter;
- /*ODEBody *leftBody =
(ODEBody*)World::Instance()->GetEntityByName("pioneer::left_wheel");
- ODEBody *rightBody =
(ODEBody*)World::Instance()->GetEntityByName("pioneer::right_wheel");
- ODEBody *castorBody =
(ODEBody*)World::Instance()->GetEntityByName("pioneer::castor_body");
- ODEBody *planeBody =
(ODEBody*)World::Instance()->GetEntityByName("plane1_model::plane1_body");
- if (leftBody && rightBody && planeBody && castorBody)
- {
- ODEGeom *leftGeom = (ODEGeom*)leftBody->GetGeom("left_wheel_geom");
- ODEGeom *rightGeom = (ODEGeom*)rightBody->GetGeom("right_wheel_geom");
- ODEGeom *castorGeom = (ODEGeom*)castorBody->GetGeom("castor_geom");
- ODEGeom *planeGeom = (ODEGeom*)planeBody->GetGeom("plane1_geom");
-
- dContactGeom geomLeft, geomRight, geomCastor;
- geomLeft.pos[0] = leftBody->GetWorldPose().pos.x;
- geomLeft.pos[1] = leftBody->GetWorldPose().pos.y;
- geomLeft.pos[2] = 0;
- geomLeft.normal[0] = 0;
- geomLeft.normal[1] = 0;
- geomLeft.normal[2] = 1;
- geomLeft.depth = 0;
- geomLeft.g1 = leftGeom->GetGeomId();
- geomLeft.g2 = planeGeom->GetGeomId();
-
- geomRight.pos[0] = rightBody->GetWorldPose().pos.x;
- geomRight.pos[1] = rightBody->GetWorldPose().pos.y;
- geomRight.pos[2] = 0;
- geomRight.normal[0] = 0;
- geomRight.normal[1] = 0;
- geomRight.normal[2] = 1;
- geomRight.depth = 0;
- geomRight.g1 = rightGeom->GetGeomId();
- geomRight.g2 = planeGeom->GetGeomId();
-
- geomCastor.pos[0] = castorBody->GetWorldPose().pos.x;
- geomCastor.pos[1] = castorBody->GetWorldPose().pos.y;
- geomCastor.pos[2] = 0;
- geomCastor.normal[0] = 0;
- geomCastor.normal[1] = 0;
- geomCastor.normal[2] = 1;
- geomCastor.depth =0;
- geomCastor.g1 = castorGeom->GetGeomId();
- geomCastor.g2 = planeGeom->GetGeomId();
-
- dContact contact;
- contact.geom = geomLeft;
- contact.surface.mode = dContactSoftERP | dContactSoftCFM;
- contact.surface.mu = 0;
- contact.surface.mu2 = 0;
- contact.surface.slip1 = 0.1;
- contact.surface.slip2 = 0.1;
- contact.surface.bounce = 0;
- dJointID c = dJointCreateContact(this->worldId, this->contactGroup,
&contact);
- dJointAttach (c, leftBody->GetODEId(), planeBody->GetODEId());
-
- dContact contact2;
- contact2.geom = geomRight;
- contact2.surface.mode = dContactSoftERP | dContactSoftCFM;
- contact2.surface.mu = 0;
- contact2.surface.mu2 = 0;
- contact2.surface.slip1 = 0.1;
- contact2.surface.slip2 = 0.1;
- contact2.surface.bounce = 0;
- dJointID c2 = dJointCreateContact(this->worldId, this->contactGroup,
&contact2);
- dJointAttach (c2, rightBody->GetODEId(), planeBody->GetODEId());
-
- dContact contact3;
- contact3.geom = geomCastor;
- contact3.surface.mode = dContactSoftERP | dContactSoftCFM;
- contact3.surface.mu = 0;
- contact3.surface.mu2 = 0;
- contact3.surface.slip1 = 0.1;
- contact3.surface.slip2 = 0.1;
- contact3.surface.bounce = 0;
- dJointID c3 = dJointCreateContact(this->worldId, this->contactGroup,
&contact3);
- dJointAttach (c3, castorBody->GetODEId(), planeBody->GetODEId());
- }
-*/
-
-
// Do collision detection; this will add contacts to the contact group
this->LockMutex();
{
@@ -726,7 +648,7 @@
continue;
contact.geom = self->contactGeoms[i];
- contact.surface.mode = dContactSlip1 | dContactSlip2 |
+ contact.surface.mode = //dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM |
dContactBounce | dContactMu2 | dContactApprox1;
//contact.surface.mode = dContactSoftERP | dContactSoftCFM |
dContactApprox1 | dContactSlip1 | dContactSlip2;
Modified: code/gazebo/branches/simpar/worlds/empty.world
===================================================================
--- code/gazebo/branches/simpar/worlds/empty.world 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/worlds/empty.world 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -15,13 +15,12 @@
<verbosity>4</verbosity>
<physics:ode>
- <stepTime>0.1</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
-
- <stepType>quick</stepType>
- <stepIters>10</stepIters>
+ <stepType>robust</stepType>
+ <stepIters>100</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.0</contactSurfaceLayer>
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -24,8 +24,8 @@
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>quick</stepType>
- <stepIters>100</stepIters>
+ <stepType>robust</stepType>
+ <stepIters>10</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.00</contactSurfaceLayer>
@@ -51,8 +51,8 @@
<body:plane name="plane1_body">
<geom:plane name="plane1_geom">
<normal>0 0 1</normal>
- <mu1>100000.0</mu1>
- <mu2>100000.0</mu2>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
<kp>1000000000.0</kp>
<kd>1.0</kd>
@@ -96,7 +96,7 @@
-->
<model:physical name="pioneer">
- <xyz>0 0 0.148</xyz>
+ <xyz>0 0 1.448</xyz>
<rpy>0.0 0.0 0.0</rpy>
<!--
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx_ramp.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx_ramp.world 2010-10-01
21:56:40 UTC (rev 8928)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx_ramp.world 2010-10-01
21:57:32 UTC (rev 8929)
@@ -21,13 +21,26 @@
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+
+ <stepType>robust</stepType>
+ <stepIters>10</stepIters>
+ <stepW>1.3</stepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.00</contactSurfaceLayer>
+ </physics:ode>
+
+
+ <!--
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
<erp>0.3</erp>
- <!-- updateRate: <0 == throttle simTime to match realTime.
- 0 == No throttling
- >0 == Frequency at which to throttle the sim -->
<updateRate>0</updateRate>
</physics:ode>
+ -->
<rendering:gui>
<type>fltk</type>
Modified: code/gazebo/branches/simpar/worlds/simpleshapes.world
===================================================================
--- code/gazebo/branches/simpar/worlds/simpleshapes.world 2010-10-01
21:56:40 UTC (rev 8928)
+++ code/gazebo/branches/simpar/worlds/simpleshapes.world 2010-10-01
21:57:32 UTC (rev 8929)
@@ -47,22 +47,17 @@
</rendering:ogre>
<model:physical name="sphere1_model">
- <xyz>0 0 0.2</xyz>
- <rpy>0 0.0 0.0</rpy>
- <static>true</static>
-
+ <xyz>0 0 5.0</xyz>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
- <size>0.2</size>
- <mass>1.0</mass>
+ <size>0.25</size>
+ <mass>10.0</mass>
<mu1>109999.0</mu1>
<visual>
- <size>0.4 0.4 0.4</size>
- <mesh>lightsensor.3ds</mesh>
- <shader>pixel</shader>
- <!--<material>Gazebo/Rocky</material>-->
+ <size>0.5 0.5 0.5</size>
+ <mesh>unit_sphere</mesh>
</visual>
</geom:sphere>
</body:sphere>
@@ -88,7 +83,7 @@
</model:physical>
<!-- White Point light -->
- <model:renderable name="point_white">
+ <!--<model:renderable name="point_white">
<xyz>-2 2 10</xyz>
<static>false</static>
@@ -101,5 +96,6 @@
<attenuation>0.1 0.01 0.001</attenuation>
</light>
</model:renderable>
+ -->
</gazebo:world>
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