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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Fridge origin #70

Closed Tigul closed 4 years ago

Tigul commented 4 years ago

Added

A new mesh for the fridge with the origin point in the center of the bounding box
Modified URDF with respect to the new origin point of the fridge

Screenshots

The new mesh and its origin rendered in Rviz fridge rviz

The new mesh and its origin in the BulletWorld fridge cram

gaya- commented 4 years ago

Hmm, I hope that 25 cm w.r.t the old offset and 20 cm offset for the middle board are correct. Actually, the middle board looks too high to me... Maybe we should wait to go the lab and measure the height of the board. Or maybe we can just adjust it later using the point cloud of the robot... @ichumuh can I merge this?

ichumuh commented 4 years ago

I think we should merge it once we can verify with the pr2 point cloud. in the meantime people can checkout the pr. if we merge it now, we'll 100% forget about it until we can go back to the lab.