def place_object(self, obj, place):
"""
:type obj: str
:type place: Pose
:return:
"""
goal = pickplaceGoal()
goal.operation = goal.PLACE
goal.id = obj
goal.place_pose = PoseStamped()
goal.place_pose = place
goal.place_pose.header.stamp = rospy.Time.now()
# TODO: how to deal with this?
goal.place_pose.pose.position.z = -0.1 # + obj.bbox.dimensions[2]/2
self.pp_client.send_goal(goal)
self.pp_client.wait_for_result()
if self.pp_client.get_result().result == 0:
return True
else:
return False
def pick_object(self, object_id):
"""
:type object_id: str
:return:
"""
goal = pickplaceGoal()
goal.id = object_id
goal.operation = goal.PICK
goal.keep_orientation = False
rospy.loginfo("Picking object with ID: " + str(object_id))
self.pp_client.send_goal(goal)
self.pp_client.wait_for_result()
# TODO: make some error msg etc
rospy.loginfo('got result')
print self.pp_client.get_result()
print "status: " + self.pp_client.get_goal_status_text()
print "state: " + str(self.pp_client.get_state())
if self.pp_client.get_result().result == 0:
return True
else:
return False
