rospy.loginfo("grasping object...")
# call object pickup
goal = PickupGoal()
# pass one of the graspable objects returned by the collision map processor
goal.target = col_res.graspable_objects[0]
# pass the name that the object has in the collision environment, this name was also returned by the collision map processor
goal.collision_object_name = col_res.collision_object_names[0]
# pass the collision name of the table, also returned by the collision map processor
goal.collision_support_surface_name = col_res.collision_support_surface_name
# pick up the object with the left arm
goal.arm_name = "left_arm"
# specify the desired distance between pre-grasp and final grasp
goal.desired_approach_distance = .1
goal.min_approach_distance = .05
# we will be lifting the object along the vertical direction which is along the z axis in the base_link frame
goal.lift = GripperTranslation()
goal.lift.direction = create_vector3_stamped([0., 0., 1.], 'base_link')
# request a vertical lift of 10cm after grasping the object
goal.lift.desired_distance = .1
goal.lift.min_distance = .05
# do not use tactile-based grasping or tactile-based lift
goal.use_reactive_execution = 0
goal.use_reactive_lift = 0
# send the goal
try:
grasper_grasp_action_client.send_goal(goal)
except rospy.ServiceException, e:
rospy.logerr("error when calling %s: %e" (grasper_grasp_name, e))
sys.exit()
