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