Cannot clear entities without volumes

[jlunenburg]

This is a problem when placing objects

[LoyVanBeek]

When exactly does this happen? Any logfile?

[LoyVanBeek]

Course of actions:

1. Robot has object in it hand
2. Robot physically puts object on the table
3. Entity is asserted to the worldmodel at the position of the hand (in rviz, a frame appears at the right place)
4. Robot finishes Place-action, retracts hand etc
5. Operator removes object to iterate to a new place-action
6. Robot is instructed to inspect table again, but won't clear the now physically removed object, the corresponding Entity stays in the world model.

We think the problem is that the Entity is missing a convex hull when it's asserted to the world model and thus raytracing to check for clearing returns something incorrect.

[MatthijsBurgh]

@LoyVanBeek @jlunenburg Wat is de prio hiervan?