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;
