def clear_world(self):
"""
:rtype: UpdateWorldResponse
"""
req = UpdateWorldRequest(UpdateWorldRequest.REMOVE_ALL, WorldBody(), False, PoseStamped())
return self.update_world.call(req)
def clear_world_request():
return UpdateWorldRequest(UpdateWorldRequest.REMOVE_ALL, WorldBody(),
False, PoseStamped())
def detach_object(self, object_name):
req = UpdateWorldRequest()
req.body.name = object_name
req.operation = req.DETACH
return self.update_world.call(req)
def rem_sphere_request():
sphere = WorldBody()
sphere.name = 'sphere'
return UpdateWorldRequest(UpdateWorldRequest.REMOVE, sphere, False,
PoseStamped())
import rospy
from giskard_msgs.msg import WorldBody
from giskard_msgs.srv import UpdateWorldRequest, UpdateWorld
from refills_perception_interface import knowrob_wrapper
from refills_perception_interface.knowrob_wrapper import KnowRob
rospy.init_node('adsfasdf')
s = rospy.ServiceProxy('/giskard/update_world', UpdateWorld)
rospy.sleep(1)
m = UpdateWorldRequest()
m.operation = UpdateWorldRequest.ADD
m.body.type = WorldBody.MESH_BODY
k = KnowRob()
for shelf_id in k.get_shelf_system_ids(False):
shelf_layer = k.get_shelf_layer_from_system(shelf_id)
if len(shelf_layer) > 0:
m.body.name = shelf_id
q = 'object_information(\'{}\',Type,HasVisual,Color,Mesh,[D,W,H],Pose,StaticTransforms)'.format(shelf_id)
result = k.once(q)
m.body.mesh = result['Mesh']
m.body.mesh = m.body.mesh.replace('\'','')
if m.body.mesh.endswith('.dae'):
m.body.mesh = m.body.mesh[:-4] + '.stl'
m.pose = k.prolog_to_pose_msg(result['Pose'])
# print(m)
s.call(m)
# continue
for shelf_layer_id in shelf_layer: