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Fix issues #113

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merged 14 commits into from
Dec 16, 2022
Merged

Fix issues #113

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b44b6e9
Fix issues #100
HoangGiang93 Oct 13, 2022
ffe6dee
Fix issues #101
HoangGiang93 Oct 13, 2022
a557685
Fix issues #103
HoangGiang93 Oct 13, 2022
f410487
Fix issues #106
HoangGiang93 Oct 13, 2022
a3b2879
Fix name
HoangGiang93 Oct 13, 2022
a735fe2
Fix name
HoangGiang93 Oct 13, 2022
3c2feee
Revert to commit a55768516bbfc2139f62eaff3a703e43b11a6f6d
HoangGiang93 Oct 13, 2022
1a6a800
Fix issues #106
HoangGiang93 Oct 13, 2022
4d76ecb
Revert "Fix issues #106"
HoangGiang93 Oct 13, 2022
7ac69a1
Fix issues #106
HoangGiang93 Oct 13, 2022
a2d1313
Fix issues #106
HoangGiang93 Oct 13, 2022
cce91c6
Add apartment.urdf
HoangGiang93 Oct 13, 2022
8b98edc
Fix rviz_config
HoangGiang93 Oct 13, 2022
d6a08f9
Merge branch 'master' into FixIssues
HoangGiang93 Nov 2, 2022
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4 changes: 2 additions & 2 deletions iai_apartment/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,10 @@ find_package(xacro REQUIRED)
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

xacro_add_xacro_file(urdf/apartment.urdf urdf/iai-apartment.urdf)
xacro_add_xacro_file(urdf/apartment.xacro urdf/apartment.urdf)
# add target to trigger xacro
add_custom_target(xacro ALL DEPENDS
urdf/iai-apartment.urdf)
urdf/apartment.urdf)
install(DIRECTORY xacro
DESTINATION share/${PROJECT_NAME})

Expand Down
10 changes: 3 additions & 7 deletions iai_apartment/launch/apartment_bringup.launch
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Original file line number Diff line number Diff line change
@@ -1,10 +1,6 @@
<launch>

<node pkg="tf"
type="static_transform_publisher"
name="iai_apartment_root_link_broadcaster"
args="0 0 0 0 0 0 map iai_apartment/apartment_root 25">
</node>
<node pkg="tf" type="static_transform_publisher" name="iai_apartment_root_link_broadcaster" args="0 0 0 0 0 0 map iai_apartment/apartment_root 25"></node>

<include file="$(find iai_apartment)/launch/upload_apartment.launch" />

Expand All @@ -16,8 +12,8 @@
</node>

<node pkg="joint_state_publisher" type="joint_state_publisher" name="apartment_joint_state_publisher" output="screen">
<remap from="robot_description" to="apartment_description"/>
<param name="rate" value="25"/>
<remap from="robot_description" to="apartment_description" />
<param name="rate" value="25" />
<remap from="/joint_states" to="/apartment_joint_states" />
<rosparam param="source_list">
- /iai_kitchen/cram_joint_states
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12 changes: 12 additions & 0 deletions iai_apartment/meshes/collision/wardrobe_door_handle.mtl
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@@ -0,0 +1,12 @@
# Blender MTL File: 'None'
# Material Count: 1

newmtl M_Metal_Dark.001
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.000000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 1
132 changes: 132 additions & 0 deletions iai_apartment/meshes/collision/wardrobe_door_handle.obj
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@@ -0,0 +1,132 @@
# Blender v3.1.2 OBJ File: ''
# www.blender.org
mtllib wardrobe_door_handle.mtl
o SM_Kleiderschrank_TürLinks
v -0.006357 0.051710 0.007541
v -0.006357 -0.054304 0.007541
v -0.006357 0.051710 -0.007541
v -0.006357 -0.054304 -0.007541
v 0.027199 0.051710 0.007541
v 0.027199 0.051710 -0.007541
v 0.027199 -0.054304 0.007541
v 0.027199 -0.054304 -0.007541
v -0.020843 0.051710 -0.007541
v -0.020843 0.066297 0.007541
v -0.020843 0.066297 -0.007541
v -0.020843 0.051710 0.007541
v -0.020843 -0.054304 -0.007541
v -0.020843 -0.054304 0.007541
v -0.020843 -0.063703 -0.007541
v -0.020843 -0.063703 0.007541
v -0.006357 -0.063703 -0.007541
v -0.006357 -0.063703 0.007541
v 0.027199 -0.063703 0.007541
v 0.027199 -0.063703 -0.007541
v -0.006357 0.066297 -0.007541
v -0.006357 0.066297 0.007541
v 0.027199 0.066297 0.007541
v 0.027199 0.066297 -0.007541
vt 0.561523 0.740479
vt 0.437988 0.740479
vt 0.561523 0.726074
vt 0.437988 0.726074
vt -0.108948 0.726074
vt -0.061035 0.740479
vt -0.108948 0.740479
vt -0.061035 0.726074
vt 1.108398 0.740479
vt 1.060547 0.740479
vt 1.108398 0.726074
vt 1.060547 0.726074
vt 0.437988 0.726074
vt 0.427734 0.740479
vt 0.427734 0.726074
vt 0.437988 0.740479
vt 0.561523 0.726074
vt 0.561523 0.740479
vt 0.571777 0.726074
vt 0.571777 0.740479
vt -0.120056 0.740479
vt -0.120056 0.726074
vt -0.108948 0.726074
vt -0.108948 0.740479
vt -0.061035 0.740479
vt -0.061035 0.726074
vt 1.108398 0.726074
vt 1.119141 0.726074
vt 1.119141 0.740479
vt 1.108398 0.740479
vt 1.060547 0.740479
vt 1.060547 0.726074
vt 0.571777 1.061035
vt 0.571777 1.108948
vt 0.561523 1.061035
vt 0.561523 1.108948
vt 0.571777 1.120056
vt 0.561523 1.120056
vt 0.437988 1.120056
vt 0.437988 1.108948
vt 0.427734 1.120056
vt 0.427734 1.108948
vt 0.427734 1.061035
vt 0.437988 1.061035
vt 0.571777 1.108948
vt 0.561523 1.061035
vt 0.571777 1.061035
vt 0.561523 1.108948
vt 0.561523 1.120056
vt 0.571777 1.120056
vt 0.437988 1.120056
vt 0.437988 1.108948
vt 0.427734 1.120056
vt 0.427734 1.108948
vt 0.427734 1.061035
vt 0.437988 1.061035
vn 1.0000 0.0000 0.0000
vn 0.0000 -1.0000 0.0000
vn 0.0000 1.0000 0.0000
vn -1.0000 0.0000 0.0000
vn 0.0000 0.0000 1.0000
vn 0.0000 0.0000 -1.0000
usemtl M_Metal_Dark.001
s off
f 1/1/1 2/2/1 3/3/1
f 3/3/1 2/2/1 4/4/1
f 3/5/2 5/6/2 1/7/2
f 5/6/2 3/5/2 6/8/2
f 2/9/3 7/10/3 4/11/3
f 8/12/3 4/11/3 7/10/3
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f 9/13/4 13/17/4 12/16/4
f 12/16/4 13/17/4 14/18/4
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f 14/18/4 15/19/4 16/20/4
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f 18/24/2 16/21/2 17/23/2
f 17/23/2 19/25/2 18/24/2
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f 21/27/3 11/28/3 10/29/3
f 21/27/3 10/29/3 22/30/3
f 22/30/3 23/31/3 21/27/3
f 24/32/3 21/27/3 23/31/3
f 23/33/5 22/34/5 5/35/5
f 1/36/5 5/35/5 22/34/5
f 10/37/5 12/38/5 22/34/5
f 22/34/5 12/38/5 1/36/5
f 14/39/5 1/36/5 12/38/5
f 1/36/5 14/39/5 2/40/5
f 2/40/5 14/39/5 16/41/5
f 2/40/5 16/41/5 18/42/5
f 18/42/5 19/43/5 2/40/5
f 7/44/5 2/40/5 19/43/5
f 17/45/6 8/46/6 20/47/6
f 8/46/6 17/45/6 4/48/6
f 13/49/6 17/45/6 15/50/6
f 13/49/6 4/48/6 17/45/6
f 9/51/6 4/48/6 13/49/6
f 3/52/6 4/48/6 9/51/6
f 11/53/6 3/52/6 9/51/6
f 21/54/6 3/52/6 11/53/6
f 24/55/6 3/52/6 21/54/6
f 3/52/6 24/55/6 6/56/6
Binary file added iai_apartment/meshes/collision/wardrobe_door_handle.stl
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Binary file not shown.
22 changes: 22 additions & 0 deletions iai_apartment/meshes/collision/wardrobe_door_left.mtl
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
# Blender MTL File: 'None'
# Material Count: 2

newmtl M_Metal_Chrome.001
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.215861 0.215861 0.215861
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 1

newmtl M_Wood_Furniture.003
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.215861 0.215861 0.215861
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 1
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