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The services for dealing with the PR2 object database are provided by the node household_objects_database. Once set up correctly, it will provide a bunch of services, including:

/objects_database_node/get_model_list
/objects_database_node/get_model_description
/objects_database_node/get_model_mesh

rosservice list | grep objects_database_node should give you a complete list.

Note that you'll have to set up a Postgre SQL server and import the object database.

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