def call_plan_point_cluster_grasp(self,
cluster,
arm_name,
reference_frame_id,
side=False):
req = GraspPlanningRequest()
req.target.reference_frame_id = reference_frame_id
req.target.region.cloud = cluster
req.arm_name = arm_name #not that cluster planner cares right now which arm
try:
res = self._cluster_grasp_srv(req)
except rospy.ServiceException, e:
rospy.logerr("error when calling plan_point_cluster_grasp: %s" % e)
return 0
def call_plan_point_cluster_grasp(self, cluster, arm_name,
reference_frame_id):
"""
call plan_point_cluster_grasp to get candidate grasps for a cluster
"""
req = GraspPlanningRequest()
req.target.reference_frame_id = reference_frame_id
req.target.region.cloud = cluster
req.arm_name = arm_name #not that cluster planner cares
try:
res = self._cluster_grasp_srv(req)
except rospy.ServiceException as err:
rospy.logerr("error in calling plan_point_cluster_grasp: %s"%err)
return 0
if res.error_code.value != 0:
return []
return res.grasps
def call_plan_point_cluster_grasp(cluster):
req = GraspPlanningRequest()
req.target.reference_frame_id = "/base_link"
req.target.cluster = cluster
req.arm_name = "right_arm"
req.collision_support_surface_name = "table"
service_name = "plan_point_cluster_grasp"
rospy.loginfo("waiting for plan_point_cluster_grasp service")
rospy.wait_for_service(service_name)
rospy.loginfo("service found")
serv = rospy.ServiceProxy(service_name, GraspPlanning)
try:
res = serv(req)
except rospy.ServiceException, e:
rospy.logerr("error when calling plan_point_cluster_grasp: %s" % e)
return 0
def call_plan_segmented_clutter_grasps(point_cloud, box_pose, box_dims,
arm_name):
"""call plan_point_cluster_grasp to get candidate grasps for a cluster"""
req = GraspPlanningRequest()
req.arm_name = arm_name
req.target.reference_frame_id = box_pose.header.frame_id
req.target.region.cloud = point_cloud
req.target.region.roi_box_pose = box_pose
req.target.region.roi_box_dims = box_dims
service_name = "plan_segmented_clutter_grasps"
rospy.loginfo("waiting for %s" % service_name)
rospy.wait_for_service(service_name)
rospy.loginfo("service found")
serv = rospy.ServiceProxy(service_name, GraspPlanning)
try:
res = serv(req)
except rospy.ServiceException, e:
rospy.logerr("error when calling plan_segmented_clutter_grasps: %s" %
e)
return 0