Models of entities in our world model ED

Models can be created with the create-model.py script. Only Tables, cabinets and boxes are supported by the script at the moment. The object comes with multiple areas:

• in_front_of
• on_top_of
• near

The areas can be used for manipulation or navigation. The on_top_of area is also used for segmentation purposes. To be robust against errors in your robot model, it starts 2 cm above the object. No research is done for the optimal value.