Add unreal map

[HoangGiang93]

I just add a new map that matches the model of our apartment lab in Unreal Engine (https://github.com/code-iai/UnrealApartment/tree/NewLight). I also changed all collision meshes into primitive meshes for all possible furnitures. Please check if there is anything you require for this map. To test, please run this command: roslaunch iai_apartment apartment_display.launch

[ichumuh]

the poses of the kitchen parts don't align with the previous one

[ichumuh]

light gray is the new apartment and dark gray is the old one. Also it would be good if the link names would match with the old urdf. For example one of my tests referes to cabinet1_coloksu_level4, which does not exist anymore.

[HoangGiang93]

light gray is the new apartment and dark gray is the old one. Also it would be good if the link names would match with the old urdf. For example one of my tests referes to cabinet1_coloksu_level4, which does not exist anymore.

Well unfortunately it's the measurement of the apartment lab in Unreal Engine. The mesh and the pose of the kitchen part aren't as the same as in the old urdf. Is there any problem if you use the new one?

[ichumuh]

I'm not sure how well tuned the kitchen island pose in the old urdf is, but if the poses are off, our demo won't work anymore. We have tweaked the numbers using PR2's sensor data, and these are the ones which are more important.

[HoangGiang93]

Ok tomorrow morning we will test it with the demo to see if it works

[ichumuh]

Giang and I tested the urdf on the PR2 and corrected all the poses that were off. So from my point of view I'm fine with this PR.

[artnie]

Here are my current remarks on the new URDF:

• links cabinet1_coloksu_level4, cabinet1_coloksu_level5 are missing. They are two boards in cabinet1, where we put the objects to fetch. I copied their joints+links over but they are off, so i think the cabinet1 frame is also different from the original kitchen.
• link island_countertop missing. that's the surface of the new counter_sink_stove, which became a collision box. We spawn a bowl on the surface and define its pose w.r.t. the island_countertop frame.

Here's a list of all the frames that are currently fine-tuned in the apartment-demo:

• cabinet1_coloksu_level4
• island_countertop
• cabinet1_door_top_left
• dishwasher-drawer-middle
• cabinet7 (part of the dishwasher)

And here are the joints in use:

• cabinet1_door_top_left_joint
• cabinet7_door_bottom_left_joint
• dishwasher_drawer_middle_joint
• handle_cab1_top_door_joint

[HoangGiang93]

Here are my current remarks on the new URDF:

• links cabinet1_coloksu_level4, cabinet1_coloksu_level5 are missing. They are two boards in cabinet1, where we put the objects to fetch. I copied their joints+links over but they are off, so i think the cabinet1 frame is also different from the original kitchen.
• link island_countertop missing. that's the surface of the new counter_sink_stove, which became a collision box. We spawn a bowl on the surface and define its pose w.r.t. the island_countertop frame.

Here's a list of all the frames that are currently fine-tuned in the apartment-demo:

• cabinet1_coloksu_level4
• island_countertop
• cabinet1_door_top_left
• dishwasher-drawer-middle
• cabinet7 (part of the dishwasher)

And here are the joints in use:

• cabinet1_door_top_left_joint
• cabinet7_door_bottom_left_joint
• dishwasher_drawer_middle_joint
• handle_cab1_top_door_joint

try out this pull request: https://github.com/code-iai/iai_maps/pull/116