def build_response(self, request):
#utils.save_rpcz(request, "execute_grasp_request" + str(request.grasp.graspId) + str(".saved_proto"))
grasp_msg = utils.build_grasp_msg(request.grasp)
self.ros_interface.handle_execute_grasp_request(grasp_msg)
rpcz_response = execute_grasp_pb2.ExecuteGraspResponse()
rpcz_response.isSuccessful = True
return rpcz_response
def build_response(self, request):
#utils.save_rpcz(request, "execute_grasp_request" + str(request.grasp.graspId) + str(".saved_proto"))
grasp_msg = utils.build_grasp_msg(request.grasp)
self.ros_interface.handle_execute_grasp_request(grasp_msg)
rpcz_response = execute_grasp_pb2.ExecuteGraspResponse()
rpcz_response.isSuccessful = True
return rpcz_response
def build_response(self, request):
#utils.save_rpcz(request, "check_grasp_request" + str(request.grasp.graspId) + str(".saved_proto"))
response = check_grasp_reachability_pb2.CheckGraspReachabilityResponse()
proxy_request = utils.build_grasp_msg(request.grasp)
check_reachability_ros_response = self.ros_interface.handle_check_reachability_request(proxy_request)
response.graspId = request.grasp.graspId
response.graspStatus = check_reachability_ros_response.isPossible
return response
