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00058 import roslib; roslib.load_manifest('srs_symbolic_grounding')
00059
00060 from srs_symbolic_grounding.srv import *
00061 from srs_symbolic_grounding.msg import *
00062 from geometry_msgs.msg import *
00063 import rospy
00064 import tf
00065 from srs_msgs.msg import SRSSpatialInfo
00066 import math
00067
00068 def symbol_grounding_grasp_base_pose_experimental_client(target_obj_pose, parent_obj_geometry, furniture_geometry_list):
00069
00070
00071 rospy.wait_for_service('symbol_grounding_grasp_base_pose_experimental')
00072 symbol_grounding_grasp_base_pose_experimental = rospy.ServiceProxy('symbol_grounding_grasp_base_pose_experimental', SymbolGroundingGraspBasePoseExperimental)
00073
00074 try:
00075 resp1 = symbol_grounding_grasp_base_pose_experimental(target_obj_pose, parent_obj_geometry, furniture_geometry_list)
00076 return resp1
00077
00078 except rospy.ServiceException, e:
00079 print "Service call failed: %s" %e
00080
00081
00082 '''
00083 def getWorkspaceOnMap():
00084 #print 'test get all workspace (furnitures basically here) from map'
00085 try:
00086 requestNewTask = rospy.ServiceProxy('get_workspace_on_map', GetWorkspaceOnMap)
00087 resp2 = requestNewTask('ipa-kitchen-map', True)
00088 return resp2
00089 except rospy.ServiceException, e:
00090 print "Service call failed: %s"%e
00091
00092 '''
00093
00094
00095
00096 if __name__ == "__main__":
00097
00098
00099
00100 target_obj_pose = Pose()
00101
00102 target_obj_pose.position.x = 0.64
00103 target_obj_pose.position.y = 0.9
00104 target_obj_pose.position.z = 0.8
00105 target_obj_pose.orientation.x = 0
00106 target_obj_pose.orientation.y = 0
00107 target_obj_pose.orientation.z = 0
00108 target_obj_pose.orientation.w = 1
00109
00110
00111
00112
00113 parent_obj_geometry = SRSSpatialInfo()
00114
00115 '''
00116 parent_obj_geometry.pose.position.x = workspace_info.objectsInfo[0].pose.position.x
00117 parent_obj_geometry.pose.position.y = workspace_info.objectsInfo[0].pose.position.y
00118 parent_obj_geometry.pose.position.z = workspace_info.objectsInfo[0].pose.position.z
00119 parent_obj_geometry.pose.orientation.x = workspace_info.objectsInfo[0].pose.orientation.x
00120 parent_obj_geometry.pose.orientation.y = workspace_info.objectsInfo[0].pose.orientation.y
00121 parent_obj_geometry.pose.orientation.z = workspace_info.objectsInfo[0].pose.orientation.z
00122 parent_obj_geometry.pose.orientation.w = workspace_info.objectsInfo[0].pose.orientation.w
00123 parent_obj_geometry.l = workspace_info.objectsInfo[0].l
00124 parent_obj_geometry.w = workspace_info.objectsInfo[0].w
00125 parent_obj_geometry.h = workspace_info.objectsInfo[0].h
00126 '''
00127
00128 parent_obj_geometry.pose.position.x = -3.3
00129 parent_obj_geometry.pose.position.y = 0.5
00130 parent_obj_geometry.pose.position.z = 1.0
00131 parent_obj_geometry.pose.orientation.x = 0
00132 parent_obj_geometry.pose.orientation.y = 0
00133 parent_obj_geometry.pose.orientation.z = 0
00134 parent_obj_geometry.pose.orientation.w = 1.0
00135
00136 parent_obj_geometry.l = 2.0
00137 parent_obj_geometry.w = 1.0
00138 parent_obj_geometry.h = 0.85
00139
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00142
00143 furniture_geometry_list = list()
00144
00145
00146
00147
00148 print "Requesting reachability and grasp base pose."
00149 result = symbol_grounding_grasp_base_pose_experimental_client(target_obj_pose, parent_obj_geometry, furniture_geometry_list)
00150 print result
00151
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00155