Arena simulation, feat cupboard

[nickswalker]

Testing manipulation is much more time intensive than navigation. We need a basic simulation available:

• cupboard fitting robocup dimensions. Ideally, it's a model of what'll we'll acquire (Acquire a cupboard uw_robocup#8)
• Based on the physical map we've collected from the real arena, so we can also test map annotation tools (Map point of interest annotation uw_common#8)

[nickswalker]

WIP from @NickArmstrongUW:

Some requests:

• Open a draft pull request for the groceries-modeling branch
• Break models out into separate files. Putting them all into the world file directly makes it harder to reuse the models.
• Don't include the objects on the table in the world's blank state. Instead, write a script to spawn these, so that we can easily test with different assortments of objects. Here's an example of a script that does this:

 
#!/bin/bash

while rosservice call /gazebo/get_model_state '{model_name: fetch}' | grep 'success: False'; do sleep 1; done

rosrun gazebo_ros spawn_model -database pudding -sdf -model pudding -x -0.1219 -y 1.1808 -z 0.7050

rosrun gazebo_ros spawn_model -database mustard -sdf -model mustard -x -0.253481 -y 1.359 -z 0.705538 -Y 1.57

rosrun gazebo_ros spawn_model -database 'potted meat' -sdf -model 'potted meat' -x -0.3555 -y 1.2818 -z 0.709528 -Y 1.57

rosrun gazebo_ros spawn_model -database pitcher -sdf -model pitcher -x -0.5927251 -y 1.222518 -z 0.708245

rosrun gazebo_ros spawn_model -database cracker -sdf -model cracker -x 0.081981 -y 1.207181 -z 0.727574

rosrun gazebo_ros spawn_model -database bleach -sdf -model bleach -x -1.0678 -y -1.018843 -z 1.2337 -Y -2.975

rosrun gazebo_ros spawn_model -database plastic_cup_yellow -sdf -model cup -x -1.312088 -y -1.049 -z 0.405741

rosrun gazebo_ros spawn_model -database chips -sdf -model chips -x -1.02049 -y -1.026975 -z 0.073512

rosrun gazebo_ros spawn_model -database sugar -sdf -model sugar -x -0.993939 -y -1.006234 -z 0.940742

rosrun gazebo_ros spawn_model -database 'tomato soup' -sdf -model 'tomato soup' -x -1.114849 -y -1.168469 -z 0.66

• The current objects are good. Including the YCB objects would be a nice-to-have, since we know that we'll eventually need to manipulate these, and someone has already done the work: https://github.com/AustinVillaatHome/standard_objects
  Would recommend adding this as a source dependency in the .rosinstall, and then you should be able to spawn the models like in the example script
• Add a launch file for the world. It should look like the house_simulation launch file.