def grasp_target_goal_cb(userdata, old_goal):
grasp_target_goal = GraspTargetGoal()
grasp_target_goal.onlyPerception = True # this SM is only for perception!
grasp_target_goal.appearanceID = userdata.object_to_search_for
grasp_target_goal.databaseID = userdata.object_id_from_name
rospy.loginfo("GraspTargetGoal:\n" + str(grasp_target_goal))
return grasp_target_goal
def grasp_target_goal_cb(userdata, old_goal):
grasp_target_goal = GraspTargetGoal()
rospy.loginfo("userdata.keys(): " + str(userdata.keys()))
grasp_target_goal.onlyPerception = False
grasp_target_goal.appearanceID = userdata.object_to_search_for # "coke"
grasp_target_goal.databaseID = -1 # 18983 juice #18984 # coke is 18744, < 0 numbers are... DONT SEARCH ANYTHING, GET SOMETHING MA FREN
return grasp_target_goal
