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code-iai / iai_maps

The semantic and ground lab and environment maps for projects in the IAI group in the University of Bremen
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Object dimensions in the semantic map #23

Closed fairlight1337 closed 7 years ago

fairlight1337 commented 8 years ago

The collision environment requires correct object dimensions in the semantic map to properly populate MoveIt!'s internal planning scene. Both, the MoveIt! controllers and (perspectively) Giskard rely on that for collision avoidance (and detection, thereof).

Right now, only selected counter tops have dimensions defined. See the attached image for details: collisionenvironment

Green is correctly defined, red and grey are not.

This can evolve into a potential show-stopper. @bbrieber, how's your schedule? Would you be able to fill these details in? Alternatively, can you help, @gaya-?

gaya- commented 8 years ago

I can help with the same speed as anyone else as the dimensions of bounding boxes come from Blender. Anyone can open the Blender meshes of furniture and add some numbers into the owl. This is how I imagine the process but I have no experience in this.

fairlight1337 commented 8 years ago

I meant more like whether you have time at the moment to help out, or if you're busy with higher priority issues at the moment.

gaya- commented 8 years ago

I see. I would prefer not to do it right now as I'm not using the semantic map with Giskard yet. If you're not doing environment articulation and are not planning to do it for the demo, we could ask @bbrieber to add 4 boxes for each of the areas and that would be it. I actually thought that that's already there.

gaya- commented 8 years ago

I mean, adding dimensions of 4 boxes would be a 10 min job, as opposed to modelling all the drawers, or, actually, the walls of the drawers all individually or smt.

fairlight1337 commented 8 years ago

Yeah, I guess we'll have to go with that for now

gaya- commented 7 years ago

Most objects in the semantic map now have dimensions that come from their bounding boxes. Accessible through object_dimensions(Owlname, Depth, Width, Height) predicate.