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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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Popcorn #94

Closed hawkina closed 1 year ago

hawkina commented 2 years ago

popcorn table addition, xacro fixes for noetic. Tested by running popcorn demo from cram and running: rosrun xacro xacro iai_kitchen_popcorn_python.urdf.xacro to assemble one urdf, and checked it with check_urdf. Also visualized it in Rviz.

artnie commented 2 years ago

Please do not add the .urdf files, only .urdf.xacro. For maintenance we can easily run into inconsistencies between the original xacro and the generated urdf. Rather generate it yourself with xacro iai_kitchen_popcorn_python.urdf.xacro > iai_kitchen_popcorn_python.urdf

hawkina commented 1 year ago

@artnie Hey. i've removed the urdf and added the popcorn owl file needed for knowrob. Is that okay?

artnie commented 1 year ago

@artnie Hey. i've removed the urdf and added the popcorn owl file needed for knowrob. Is that okay?

Don't we need the popcorn environment urdf? Is it somewhere else? And I don't know about the OWL file. If we can generate it easily, it would be better if we only have one root source of the environment, the XACRO, then generate ourselves the URDF and OWL from it. Because people working on the xacro won't necessarily adjust the urdf and owl, you know, then stuff get's out of sync.

hawkina commented 1 year ago

this is the urdf for popcorn: https://github.com/code-iai/iai_maps/blob/popcorn/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro it's the iai kitchen + popcorn table.

We can't generate the OWL automatically to my knowledge. This one was manually written by @AbhijitVyas for OpenEase. That's why I removed the urdf. You can autogenerate it. You cannot autogenerate the OWL. (at least to my knowledge)

artnie commented 1 year ago

A bummer that we can't translate to OWL anymore. I know we had something like that before.

Please give me some info on how to run the popcorn demo in CRAM so I can test your PR.

hawkina commented 1 year ago

I only knew of the Autogeneration from UE via RobCoG :/ It probably needs to be adapted to SOMA...

yup. working on the instruction right now.

artnie commented 1 year ago

btw, can you put the refills-lab changes into a separate PR? I've never worked with refills and cant test if the changes are fine.

hawkina commented 1 year ago

ah got ahead of myself when committing. Sorry. it's just the "xacro:" prefix. I can remove it but it will be needed later anyway

hawkina commented 1 year ago

it's same changes as PR #85 :D

artnie commented 1 year ago

do you wanna accept #85 then? I mean, it's from tigul and you can review it right? Let's make our lifes a bit easier :D

hawkina commented 1 year ago

checked, accepted and merged #85. removed dm_room changes from this PR since it works without them.