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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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[iai_fridge]Adding a level in the fridge object #58

Closed amar-fayaz closed 5 years ago

amar-fayaz commented 5 years ago

Created a board inside the iai_fridge_main model to represent the different boards where the objects could be kept. The existing model of the board is not a part of the iai_fridge_main but a part of fridgearea. (This has not been removed in this review) The board is created using the URDF primitive _ tag. The values used are a cumulation of the real world measurement and in reference to the 3d model in iai_kitchen/meshes/misc/Fridge.obj

This is created as a separate object so that CRAM can address the levels inside a container as a separate entity and future containers with levels are expected to follow this pattern.

gaya- commented 5 years ago

apparently the measurement of the inside of the fridge is in the real world 47 cm, and the cad model has 50 inside. if we want to reach inside the fridge, this can cause problems

amar-fayaz commented 5 years ago

Adding the screenshots from Rviz with the added model

The red is the new model and the green under it is the old board fridge front fridge side fridge top

ichumuh commented 5 years ago

The overlapping boards are not necessarily a problem for giskard but I think it can quickly lead to unintended behavior. If you want to change the collision avoidance distance you basically have max(distance set for new board, distance set for old board). I think it would be better the remove the old board from the fridge_area mesh.

gaya- commented 5 years ago

@ichumuh The PR is finished. Adjusting the origin center will not be done. Could you please take a look and merge this?

gaya- commented 5 years ago

Although I'm not sure if we want to mess with the DAE. Might revert that file back. It's used by OpenEASE ppl and there are lightning changes. Maybe only keep the new obj?

ichumuh commented 5 years ago

Fine with me, I only care about the obj. The current version looks good. You can merge it after its reverted.

ichumuh commented 5 years ago

On the other hand, I don't think its cool to for the dae and obj to be different. Don't you think the OpenEASE ppl would have to update the model anyway, because of the new floor?

ichumuh commented 5 years ago

There is one thing I've noticed. In the urdf the joint is at some random position and the visual has an offset. It would be better if the joint is where the visual is supposed to be and give the visual a 0 offset.

gaya- commented 5 years ago

Hmm, the new shelf layer is only added in the obj urdf as a simple object. So the dae would have no layer at all, because they don't use URDF, they only use CAD models... This is going to be problematic....

gaya- commented 5 years ago

The OpenEASE ppl would have to add a new entry into their semantic map for the shelf layer. I don't know if they will want to put effort into this.

amar-fayaz commented 5 years ago

There is one thing I've noticed. In the urdf the joint is at some random position and the visual has an offset. It would be better if the joint is where the visual is supposed to be and give the visual a 0 offset.

I have fixed this in the previous commit I made. No change visually.

gaya- commented 5 years ago

@ichumuh can you check if everything's fine for you and merge? It's ok with me.

ichumuh commented 5 years ago

thanks. @asilx can you please adjust our kitchen semantic map accordingly?