Add windows

iai_apartment/launch/apartment_bringup.launch

@@ -2,7 +2,7 @@
 
   <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="$(find iai_apartment)/launch/upload_apartment.launch" />
+  <include file="$(find iai_apartment)/launch/apartment_upload.launch" />
 
   <node name="apartment_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
     <remap from="robot_description" to="apartment_description" />

iai_apartment/launch/upload_apartment.launch → iai_apartment/launch/apartment_upload.launch

@@ -1,6 +1,6 @@
 <launch>
 
-  <arg name="model" default="$(find iai_apartment)/urdf/apartment.urdf" />
+  <arg name="model" default="$(find iai_apartment)/urdf/apartment_unreal_with_window4.xacro" />
   <param name="apartment_description" command="$(find xacro)/xacro '$(arg model)'" />
 
 </launch>

iai_apartment/maps/apartment_unreal_10cm.yaml

@@ -0,0 +1,6 @@
+image: apartment_unreal_10cm.png
+resolution: 0.05
+origin: [-0.875, -0.875, 0.0000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

iai_apartment/meshes/handles/window_handle.obj

@@ -0,0 +1,109 @@
+# Blender 3.5.0
+# www.blender.org
+mtllib window_handle.mtl
+o handle_horizontal_fix.003
+v 0.007853 0.007682 0.049743
+v 0.007482 -0.007854 0.049743
+v 0.007853 -0.007854 0.049743
+v -0.007312 0.007684 0.049743
+v -0.007683 0.007684 0.049743
+v 0.007853 -0.007854 -0.050743
+v -0.007683 -0.007851 -0.050743
+v 0.007853 0.007682 -0.050743
+v -0.007683 0.007682 -0.050743
+v -0.007683 -0.007851 0.049743
+vn -0.0000 -0.0000 1.0000
+vn -0.0002 -1.0000 -0.0000
+vn -0.0000 1.0000 -0.0000
+vn -0.0000 -0.0000 -1.0000
+vn 1.0000 -0.0000 -0.0000
+vn 0.0001 1.0000 -0.0000
+vn -1.0000 -0.0000 -0.0000
+vn -0.0000 -1.0000 -0.0000
+s 0
+f 1//1 2//1 3//1
+f 4//1 5//1 2//1
+f 6//2 2//2 7//2
+f 5//3 4//3 8//3
+f 6//4 7//4 8//4
+f 6//5 8//5 1//5
+f 4//1 2//1 1//1
+f 8//6 4//6 1//6
+f 7//7 5//7 9//7
+f 5//3 8//3 9//3
+f 8//4 7//4 9//4
+f 2//1 5//1 10//1
+f 7//2 2//2 10//2
+f 5//7 7//7 10//7
+f 2//8 6//8 3//8
+f 6//5 1//5 3//5
+o handle_horizontal_fix.004
+v -0.007417 -0.007853 0.049276
+v 0.015118 0.007683 0.049276
+v 0.015118 -0.007853 0.049276
+v -0.007417 0.007683 0.065185
+v -0.007417 0.007683 0.049276
+v -0.007417 -0.007853 0.065185
+v 0.044083 0.007683 0.065185
+v 0.044083 -0.007853 0.049647
+v 0.044083 -0.007853 0.065185
+v 0.044083 0.007683 0.049647
+vn -0.0000 -0.0000 -1.0000
+vn -1.0000 -0.0000 -0.0000
+vn -0.0000 1.0000 -0.0000
+vn -0.0000 -0.0000 1.0000
+vn -0.0000 -1.0000 -0.0000
+vn 1.0000 -0.0000 -0.0000
+vn 0.0128 -0.0000 -0.9999
+s 0
+f 11//9 12//9 13//9
+f 14//10 15//10 16//10
+f 15//11 14//11 17//11
+f 14//12 16//12 17//12
+f 16//10 15//10 11//10
+f 18//13 16//13 11//13
+f 16//13 18//13 19//13
+f 18//14 17//14 19//14
+f 17//12 16//12 19//12
+f 17//14 18//14 20//14
+f 15//11 17//11 20//11
+f 11//9 15//9 12//9
+f 20//15 18//15 12//15
+f 15//11 20//11 12//11
+f 18//13 11//13 13//13
+f 12//15 18//15 13//15
+o handle_horizontal_fix.005
+v 0.066999 -0.007853 -0.050147
+v 0.025050 0.007683 -0.049776
+v 0.025050 -0.007853 -0.049776
+v -0.007586 0.007683 -0.049776
+v -0.007586 0.007683 -0.065685
+v -0.007586 -0.007853 -0.049776
+v -0.007586 -0.007853 -0.065685
+v 0.066999 0.007683 -0.065685
+v 0.066999 0.007683 -0.050147
+v 0.066999 -0.007853 -0.065685
+vn 0.0088 -0.0000 1.0000
+vn -1.0000 -0.0000 -0.0000
+vn -0.0000 -1.0000 -0.0000
+vn -0.0000 -0.0000 -1.0000
+vn -0.0000 1.0000 -0.0000
+vn 1.0000 -0.0000 -0.0000
+vn -0.0000 -0.0000 1.0000
+s 0
+f 21//16 22//16 23//16
+f 24//17 25//17 26//17
+f 21//18 26//18 27//18
+f 26//17 25//17 27//17
+f 27//19 25//19 28//19
+f 25//20 24//20 28//20
+f 21//21 28//21 29//21
+f 28//20 24//20 29//20
+f 21//18 27//18 30//18
+f 27//19 28//19 30//19
+f 28//21 21//21 30//21
+f 24//22 26//22 22//22
+f 21//16 29//16 22//16
+f 29//20 24//20 22//20
+f 26//18 21//18 23//18
+f 22//22 26//22 23//22

iai_apartment/meshes/unreal/SM_Couchtisch.mtl

@@ -0,0 +1,13 @@
+# Blender 3.4.0 MTL File: 'None'
+# www.blender.org
+
+newmtl /Game/Materials_Laborraum/M_Wood_Furniture_M_Wood_Furniture
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd Game/Materials_Laborraum/M_Wood_Furniture_M_Wood_Furniture_D.jpg
+map_Ks Game/Materials_Laborraum/M_Wood_Furniture_M_Wood_Furniture_S.jpg
+map_Bump -bm 1.000000 Game/Materials_Laborraum/M_Wood_Furniture_M_Wood_Furniture_N.jpg