interactive_world_msgs¶

Message types¶

• interactive_world_msgs/TaskModels
• interactive_world_msgs/Room
• interactive_world_msgs/TaskTrainingData
• interactive_world_msgs/PointOfInterest
• interactive_world_msgs/Configuration
• interactive_world_msgs/Item
• interactive_world_msgs/PlacementSet
• interactive_world_msgs/Model
• interactive_world_msgs/Placement
• interactive_world_msgs/Surface

interactive_world_msgs/TaskModels¶

Field:	models[] (interactive_world_msgs/Model) –

interactive_world_msgs/Model[] models     # the learned task models

interactive_world_msgs/Room¶

Field:	name (string) – width (float64) – height (float64) – pose (geometry_msgs/Pose) – surfaces[] (interactive_world_msgs/Surface) –

string name                                  # name of the room
float64 width                                # width of the room in meters (along the x-axis)
float64 height                               # height of the room in meters (along the y-axis)
geometry_msgs/Pose pose                      # the position of the room relative to the world
interactive_world_msgs/Surface[] surfaces    # surfaces in the room

interactive_world_msgs/TaskTrainingData¶

Field:	data[] (interactive_world_msgs/PlacementSet) –

interactive_world_msgs/PlacementSet[] data     # all placement data for the task

interactive_world_msgs/PointOfInterest¶

Field:	name (string) – width (float64) – height (float64) – pose (geometry_msgs/Pose) –

string name                # name of the POI
float64 width              # width of the POI in meters (along the x-axis)
float64 height             # height of the POI in meters (along the y-axis)
geometry_msgs/Pose pose    # the position of the POI relative to its parent furniture

interactive_world_msgs/Configuration¶

Field:	task (string) – items[] (interactive_world_msgs/Item) – rooms[] (interactive_world_msgs/Room) –

string task                             # task description
interactive_world_msgs/Item[] items     # items in the world for the task
interactive_world_msgs/Room[] rooms     # rooms in the world

interactive_world_msgs/Item¶

Field:	name (string) – width (float64) – height (float64) –

string name       # name of the object
float64 width     # width of the object in meters (along the x-axis)
float64 height    # height of the object in meters (along the y-axis)

interactive_world_msgs/PlacementSet¶

Field:	item (interactive_world_msgs/Item) – room (interactive_world_msgs/Room) – surface (interactive_world_msgs/Surface) – reference_frame_id (string) – placements[] (interactive_world_msgs/Placement) –

interactive_world_msgs/Item item                 # item placed in the placement set
interactive_world_msgs/Room room                 # the room the item is placed in
interactive_world_msgs/Surface surface           # the surface the item is placed on
string reference_frame_id                        # name of the target reference frame for the placement set
interactive_world_msgs/Placement[] placements    # the set of placements

interactive_world_msgs/Model¶

Field:	placement (interactive_world_msgs/Placement) – decision_value (float64) – sigma_x (float64) – sigma_y (float64) – sigma_z (float64) – sigma_theta (float64) –

interactive_world_msgs/Placement placement    # the associated placement for the model
float64 decision_value                        # the decision value associated with the model
float64 sigma_x                               # the standard deviation on the X value
float64 sigma_y                               # the standard deviation on the Y value
float64 sigma_z                               # the standard deviation on the Z value
float64 sigma_theta                           # the standard deviation on the theta value

interactive_world_msgs/Placement¶

Field:	item (interactive_world_msgs/Item) – room (interactive_world_msgs/Room) – surface (interactive_world_msgs/Surface) – reference_frame_id (string) – position (geometry_msgs/Point) – rotation (float64) –

interactive_world_msgs/Item item          # item placed in the placement
interactive_world_msgs/Room room          # the room the item is placed in
interactive_world_msgs/Surface surface    # the surface the item is placed on
string reference_frame_id                 # name of the target reference frame for the placement
geometry_msgs/Point position              # position of the placement
float64 rotation                          # rotation of the placement (along the z-axis)

interactive_world_msgs/Surface¶

Field:	name (string) – width (float64) – height (float64) – pose (geometry_msgs/Pose) – pois[] (interactive_world_msgs/PointOfInterest) –

string name                                      # name of the surface
float64 width                                    # width of the surface in meters (along the x-axis)
float64 height                                   # height of the surface in meters (along the y-axis)
geometry_msgs/Pose pose                          # the position of the surface relative to its parent room
interactive_world_msgs/PointOfInterest[] pois    # POIs for the surface

Service types¶

• interactive_world_msgs/FindSurface
• interactive_world_msgs/TransformToSurfaceFrame
• interactive_world_msgs/Parse
• interactive_world_msgs/LearnModels
• interactive_world_msgs/FindObservations
• interactive_world_msgs/StoreObservation
• interactive_world_msgs/LoadModels

interactive_world_msgs/FindSurface¶

Field (Request):
	pose (geometry_msgs/PoseStamped) –
Field (Response):
	surface (string) – frame_id (string) –

geometry_msgs/PoseStamped pose  # The pose to find the surface it is on
---
string surface                  # The name of the surface (blank if none are found)
string frame_id                 # The name of the surface frame (blank if none are found)

interactive_world_msgs/TransformToSurfaceFrame¶

Field (Request):
	pose (geometry_msgs/PoseStamped) – surface (string) –
Field (Response):
	pose (geometry_msgs/PoseStamped) –

geometry_msgs/PoseStamped pose  # The pose to find the surface pose of
string surface                  # The name of the surface to transform the pose to
---
geometry_msgs/PoseStamped pose  # The pose in the surfeace frame

interactive_world_msgs/Parse¶

Field (Request):
	study_id (int32) –

int32 study_id    # The study ID to parse
---

interactive_world_msgs/LearnModels¶

Field (Request):
	host (string) – port (int32) – user (string) – password (string) – database (string) – condition_id (int32) – data (interactive_world_msgs/TaskTrainingData) –

string host                                     # the host of the RMS database
int32 port                                      # the port of the RMS database
string user                                     # the user of the RMS database
string password                                 # the password of the RMS database
string database                                 # the database of the RMS database
int32 condition_id                              # the condition ID of the data
interactive_world_msgs/TaskTrainingData data    # the data to train on
---

interactive_world_msgs/FindObservations¶

Field (Request):
	item (string) –
Field (Response):
	surfaces[] (string) – placement_surface_frame_ids[] (string) – item_confs[] (float64) – xs[] (float64) – ys[] (float64) – zs[] (float64) – thetas[] (float64) – times[] (time) –

string item
---
string[] surfaces
string[] placement_surface_frame_ids
float64[] item_confs
float64[] xs
float64[] ys
float64[] zs
float64[] thetas
time[] times

interactive_world_msgs/StoreObservation¶

Field (Request):
	surface (string) – placement_surface_frame_id (string) – item (string) – item_conf (float64) – x (float64) – y (float64) – z (float64) – theta (float64) –

string surface
string placement_surface_frame_id
string item
float64 item_conf
float64 x
float64 y
float64 z
float64 theta
---

interactive_world_msgs/LoadModels¶

Field (Request):
	condition_id (int32) –
Field (Response):
	models (interactive_world_msgs/TaskModels) –

int32 condition_id                          # the condition ID of the data
---
interactive_world_msgs/TaskModels models    # The loaded models from an RMS database

Action types¶

• interactive_world_msgs/DriveToSurface
• interactive_world_msgs/DriveAndSearch
• interactive_world_msgs/ObjectSearch

interactive_world_msgs/DriveToSurface¶

Field (Goal):	surface (string) – poi (string) – point (geometry_msgs/Point) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
string surface             # The name of the surface to drive to
string poi                 # (Optional) The point of interest to drive closest to (i.e., for multiple nav locations)
geometry_msgs/Point point  # (Optional) The point to drive closest to (i.e., for multiple nav locations)
---
# Define the result
bool success               # If navigation was successful
---
# Define a feedback message
string message             # The current state message

interactive_world_msgs/DriveAndSearch¶

Field (Goal):	item (string) – surface (string) –
Field (Result):	success (bool) – objects (rail_manipulation_msgs/SegmentedObjectList) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
string item                                         # The name of the item to search for
string surface                                      # The name of the surface to search
---
# Define the result
bool success                                        # If the item was found
rail_manipulation_msgs/SegmentedObjectList objects  # The corresponding objects
---
# Define a feedback message
string message                                      # The current state message

interactive_world_msgs/ObjectSearch¶

Field (Goal):	models[] (uint32) – item (string) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
uint32[] models  # The model IDs to load from the interactive world database for use in search locations
string item      # The name of the item to search for
---
# Define the result
bool success    # If the item was found
---
# Define a feedback message
string message  # The current state message