Add back sektion_cabinet_model

Skylark0924 · Dec 21, 2024 · b30bfbe · b30bfbe
1 parent 8fa37f5
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diff --git a/rofunc/simulator/assets/urdf/sektion_cabinet_model/CMakeLists.txt b/rofunc/simulator/assets/urdf/sektion_cabinet_model/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(sektion_cabinet_model)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES sektion_cabinet_model
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
diff --git a/rofunc/simulator/assets/urdf/sektion_cabinet_model/config/sektion_cabinet_model.rviz b/rofunc/simulator/assets/urdf/sektion_cabinet_model/config/sektion_cabinet_model.rviz
@@ -0,0 +1,179 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /SektionCabinetModel1
+        - /SektionCabinetModel1/Status1
+      Splitter Ratio: 0.505813956
+    Tree Height: 565
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.600000024
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        door_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        door_left_anchor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        door_left_joint_anchor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        door_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        door_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        door_right_anchor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        door_right_joint_anchor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        door_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drawer_bottom:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drawer_top:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        sektion:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: SektionCabinetModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: sektion
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.45080876
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.485398352
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.88358402
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000052a0000003efc0100000002fb0000000800540069006d006501000000000000052a0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003ba000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1322
+  X: 2125
+  Y: 125
diff --git a/...tor/assets/urdf/sektion_cabinet_model/launch/sektion_cabinet_joint_state_publisher.launch b/...tor/assets/urdf/sektion_cabinet_model/launch/sektion_cabinet_joint_state_publisher.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="gui" default="True" />
+
+  <param name="robot_description" textfile="$(find sektion_cabinet_model)/urdf/sektion_cabinet.urdf" />
+
+  <node name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher" 
+    if="$(arg gui)">
+    <param name="use_gui" value="True"/>
+    <remap from="/joint_states" to="/tracker/sektion_cabinet/joint_states"/>
+  </node>
+</launch>
diff --git a/rofunc/simulator/assets/urdf/sektion_cabinet_model/launch/sektion_cabinet_rviz.launch b/rofunc/simulator/assets/urdf/sektion_cabinet_model/launch/sektion_cabinet_rviz.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="gui" default="False" />
+  <arg name="publish_static_pose" default="False" />
+
+  <param name="robot_description" textfile="$(find sektion_cabinet_model)/urdf/sektion_cabinet.urdf" />
+
+  <node name="sektion_cabinet_pose_publisher" 
+     pkg="tf" 
+     type="static_transform_publisher" 
+     args=".9 .15 .4 0 0 1 0 world sektion 30"
+     if="$(arg publish_static_pose)">
+    <remap from="/tf" to="/tracker/tf"/>
+  </node>
+  <node name="joint_state_publisher"
+      pkg="joint_state_publisher"
+      type="joint_state_publisher" 
+      if="$(arg gui)">
+    <param name="use_gui" value="True"/>
+    <remap from="/joint_states" to="/tracker/sektion_cabinet/joint_states"/>
+  </node>
+  <node name="sektion_cabinet_tracker_state_publisher"
+      pkg="robot_state_publisher"
+      type="state_publisher">
+    <remap from="/tf" to="/tracker/tf"/>
+    <remap from="/tf_static" to="/tracker/tf_static"/>
+    <remap from="/joint_states" to="/tracker/sektion_cabinet/joint_states"/>
+  </node>
+  <node name="sektion_cabinet_rviz" 
+      pkg="rviz" 
+      type="rviz" 
+      args="-d $(find sektion_cabinet_model)/config/sektion_cabinet_model.rviz">
+    <remap from="/tf" to="/tracker/tf"/>
+    <remap from="/tf_static" to="/tracker/tf_static"/>
+  </node>
+</launch>
diff --git a/rofunc/simulator/assets/urdf/sektion_cabinet_model/meshes/box.obj b/rofunc/simulator/assets/urdf/sektion_cabinet_model/meshes/box.obj
@@ -0,0 +1,24 @@
+# Exported from 3D Builder
+o Object.1
+v 499.999969 499.999969 1000.000000
+v -499.999969 499.999969 1000.000000
+v 499.999969 -499.999969 1000.000000
+v -499.999969 -499.999969 1000.000000
+v 499.999969 499.999969 0.000031
+v 499.999969 -499.999969 0.000031
+v -499.999969 499.999969 0.000031
+v -499.999969 -499.999969 0.000031
+
+
+f 1 2 3
+f 1 3 5
+f 6 5 3
+f 3 4 6
+f 8 6 4
+f 8 4 7
+f 2 7 4
+f 7 2 5
+f 8 7 6
+f 5 6 7
+f 4 3 2
+f 1 5 2
diff --git a/rofunc/simulator/assets/urdf/sektion_cabinet_model/meshes/door_left.mtl b/rofunc/simulator/assets/urdf/sektion_cabinet_model/meshes/door_left.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.001
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.840000 0.80000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+# map_Kd WoodFine0035_1_S.jpg