-(table.x_min + table.x_max) / 2.0, (new_pose.pose.position.z / 2.0) ], [ new_pose.pose.orientation.x, new_pose.pose.orientation.y, new_pose.pose.orientation.z, new_pose.pose.orientation.w ], table.x_max - table.x_min, table.y_max - table.y_min, new_pose.pose.position.z) if __name__ == "__main__": # initialize rospy.init_node('test_arm_control', anonymous=True) object_recognizer = ObjectRecognition() arm_mover = MoveGroupCommander('arm') arm_mover.go([0, 0, 0, 0, 0, 0, 0]) os.system('rosrun gripper_control lcg_set_pos.py -n low_cost -f 5 -p 0.13') listener = tf.TransformListener() planning_scene = PlanningSceneInterface() object_listener = ObjectListener(planning_scene, listener) rospy.Subscriber("/table_array", TableArray, object_listener.table_callback) while True: arm_mover.go([0, 0, 0, 0, 0, 0, 0]) print "Looking for objects." objects = object_recognizer.look_for_objects() while not objects.recognized_objects.objects: