def execute_cb(self, server_goal): x = time.time() rospy.loginfo("/get_grasp_configurations_server has been called...") server_result = GraspCActionResult().result fail = False resp = grasping_functions.read_grasps_from_DB(server_goal.object_id) if resp == -1: resp = grasping_functions.generator(server_goal.object_id) if resp != -1: resp = grasping_functions.read_grasps_from_DB( server_goal.object_id) server_result.grasp_configuration = resp.grasp_configuration else: fail = True else: server_result.grasp_configuration = resp.grasp_configuration if fail: self.get_grasp_configurations.set_aborted(server_result) else: self.get_grasp_configurations.set_succeeded(server_result) print "Time employed: " + str(time.time() - x) print "---------------------------------------"
def execute_cb(self, server_goal): x = time.time() rospy.loginfo("/get_grasp_configurations_server has been called...") server_result = GraspCActionResult().result fail = False resp = grasping_functions.read_grasps_from_DB(server_goal.object_id) if resp == -1: resp = grasping_functions.generator(server_goal.object_id) if resp != -1: resp = grasping_functions.read_grasps_from_DB(server_goal.object_id) server_result.grasp_configuration = resp.grasp_configuration else: fail = True else: server_result.grasp_configuration = resp.grasp_configuration if fail: self.get_grasp_configurations.set_aborted(server_result) else: self.get_grasp_configurations.set_succeeded(server_result) print "Time employed: " + str(time.time() - x) print "---------------------------------------"
def get_grasp_configurations(self, server_goal): x = time.time(); rospy.loginfo("/get_grasp_configurations service has been called..."); server_result = GetGraspConfigurationsResponse(); resp = grasping_functions.read_grasps_from_DB(server_goal.object_id); if resp == -1: resp = grasping_functions.generator(server_goal.object_id); if resp != -1: resp = grasping_functions.read_grasps_from_DB(server_goal.object_id); server_result.grasp_configuration = resp.grasp_configuration; else: server_result.grasp_configuration = resp.grasp_configuration; print "Time employed: " + str(time.time() - x); print "---------------------------------------"; return server_result;