def plan_point_cluster_grasp_callback(self, req):
rospy.loginfo("planning grasps for a point cluster")
resp = GraspPlanningResponse()
(grasps, error_code) = self.plan_point_cluster_grasps(req.target, req.arm_name)
resp.grasps = grasps
resp.error_code = error_code
return resp
