def add_mesh(self,
name=u'mesh',
mesh=u'',
frame_id=u'map',
position=(0, 0, 0),
orientation=(0, 0, 0, 1),
pose=None):
"""
If pose is used, frame_id, position and orientation are ignored.
:type name: str
:param mesh: path to the meshes location. e.g. package://giskardpy/test/urdfs/meshes/bowl_21.obj
:type frame_id: str
:type position: list
:type orientation: list
:type pose: PoseStamped
:rtype: UpdateWorldResponse
"""
object = WorldBody()
object.type = WorldBody.MESH_BODY
object.name = str(name)
if pose is None:
pose = PoseStamped()
pose.header.stamp = rospy.Time.now()
pose.header.frame_id = str(frame_id)
pose.pose.position = Point(*position)
pose.pose.orientation = Quaternion(*orientation)
object.mesh = mesh
req = UpdateWorldRequest(UpdateWorldRequest.ADD, object, False, pose)
return self._update_world_srv.call(req)
def add_table_request():
table = WorldBody()
table.type = WorldBody.MESH_BODY
table.name = "table"
pose = PoseStamped()
pose.header.stamp = rospy.Time.now()
pose.header.frame_id = "map"
pose.pose.position = Point(-1.4, -1.05, 0.0)
pose.pose.orientation = Quaternion(0, 0, 1, 0)
table.mesh = 'package://iai_kitchen/meshes/misc/big_table_1.stl'
return UpdateWorldRequest(UpdateWorldRequest.ADD, table, False, pose)
def add_mesh(self, name=u'mesh', mesh=u'', frame_id=u'map', position=(0, 0, 0), orientation=(0, 0, 0, 1),
pose=None):
object = WorldBody()
object.type = WorldBody.MESH_BODY
object.name = str(name)
if pose is None:
pose = PoseStamped()
pose.header.stamp = rospy.Time.now()
pose.header.frame_id = str(frame_id)
pose.pose.position = Point(*position)
pose.pose.orientation = Quaternion(*orientation)
object.mesh = mesh
req = UpdateWorldRequest(UpdateWorldRequest.ADD, object, False, pose)
return self.update_world.call(req)
