text: #!/usr/bin/env python
  
  # rissois_vegetarianos_5214
  
  import rospy
  from wecook.msg import ActionMsg, TaskMsg, SceneMsg, ObjectMsg, ContainingMsg
  
  
  def talker():
      pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
      rospy.init_node('wecook_fruit_jelly', anonymous=True)
  
      scene_msg = SceneMsg([ObjectMsg('table0',
                                      'package://wecook_assets/data/furniture/table.urdf',
                                      [0.5, 0.0, 0.0, 0., 0., 0., 1.]),
                            ObjectMsg('pot0',
                                      'package://wecook_assets/data/objects/pot_s.urdf',
                                      [0.55, -0.25, 0.73, 0., 0., 0., 1.]),
                            ObjectMsg('pan',
                                      'package://wecook_assets/data/objects/pan.urdf',
                                      [0.4, -0.45, 0.73, 0., 0., 0., 1.]),
                            ObjectMsg('food_item0',
                                      'package://wecook_assets/data/food/food_item1.urdf',
                                      [0.3, 0.4, 0.72, 0., 0., 0., 1.]),
                            ObjectMsg('roller0',
                                      'package://wecook_assets/data/objects/roller.urdf',
                                      [0.3, 0.5, 0.83, 0., 0., 0., 1.])],
                           # ObjectMsg('cooker0',
                           #           'package://wecook_assets/data/objects/cooker.urdf',
                           #           [-0.55, 0, 0.45, 0., 0., 0., 1])],
                           [])
  
      task_msg = TaskMsg(scene_msg, [ActionMsg(['p1'], 'roll', [], 'roller0', ['food_item0'])])
  
      # sleeping 10 seconds to publish
      rospy.sleep(1)
  
      pub.publish(task_msg)
  
  
  if __name__ == '__main__':
      try:
          talker()
      except rospy.ROSInterruptException:
          pass
  