if __name__ == '__main__':
rospy.init_node('capture_node')
models = [\
'beer',
'bowl',
'create',
'disk_part',
'hammer',
'plastic_cup',
'soda_can']
# Disable gravity and delete the ground plane
initial_setup()
labeled_features = []
for model_name in models:
spawn_model(model_name)
for i in range(5):
# make five attempts to get a valid a point cloud then give up
sample_was_good = False
try_count = 0
while not sample_was_good and try_count < 5:
sample_cloud = capture_sample()
sample_cloud_arr = ros_to_pcl(sample_cloud).to_array()
# Check for invalid clouds.
if sample_cloud_arr.shape[0] == 0:
'soap',
'soap2']
"""
models = [\
'sticky_notes',
'book',
'snacks',
'biscuits',
'eraser',
'soap2',
'soap',
'glue']
"""
# Disable gravity and delete the ground plane
initial_setup()
labeled_features = []
for model_name in models:
print("hey there")
print(model_name)
spawn_model(model_name)
for i in range(10):
# make five attempts to get a valid a point cloud then give up
sample_was_good = False
try_count = 0
while not sample_was_good and try_count < 5:
sample_cloud = capture_sample()
sample_cloud_arr = ros_to_pcl(sample_cloud).to_array()
