def grasp_target_goal_cb(userdata, old_goal): grasp_target_goal = GraspTargetGoal() grasp_target_goal.onlyPerception = True # this SM is only for perception! grasp_target_goal.appearanceID = userdata.object_to_search_for grasp_target_goal.databaseID = userdata.object_id_from_name rospy.loginfo("GraspTargetGoal:\n" + str(grasp_target_goal)) return grasp_target_goal
def grasp_target_goal_cb(userdata, old_goal): grasp_target_goal = GraspTargetGoal() rospy.loginfo("userdata.keys(): " + str(userdata.keys())) grasp_target_goal.onlyPerception = False grasp_target_goal.appearanceID = userdata.object_to_search_for # "coke" grasp_target_goal.databaseID = -1 # 18983 juice #18984 # coke is 18744, < 0 numbers are... DONT SEARCH ANYTHING, GET SOMETHING MA FREN return grasp_target_goal