00001 """autogenerated by genmsg_py from GraspAdjustRequest.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import std_msgs.msg
00007
00008 class GraspAdjustRequest(roslib.message.Message):
00009 _md5sum = "e7ccb113bffaf7f7554b005b509b114a"
00010 _type = "pr2_grasp_adjust/GraspAdjustRequest"
00011 _has_header = False
00012 _full_text = """geometry_msgs/PoseStamped grasp_pose
00013 geometry_msgs/Vector3 roi_dims
00014 uint8 search_mode
00015
00016 int32 GLOBAL_SEARCH = 0
00017 int32 LOCAL_SEARCH = 1
00018 int32 SINGLE_POSE = 2
00019
00020
00021 ================================================================================
00022 MSG: geometry_msgs/PoseStamped
00023 # A Pose with reference coordinate frame and timestamp
00024 Header header
00025 Pose pose
00026
00027 ================================================================================
00028 MSG: std_msgs/Header
00029 # Standard metadata for higher-level stamped data types.
00030 # This is generally used to communicate timestamped data
00031 # in a particular coordinate frame.
00032 #
00033 # sequence ID: consecutively increasing ID
00034 uint32 seq
00035 #Two-integer timestamp that is expressed as:
00036 # * stamp.secs: seconds (stamp_secs) since epoch
00037 # * stamp.nsecs: nanoseconds since stamp_secs
00038 # time-handling sugar is provided by the client library
00039 time stamp
00040 #Frame this data is associated with
00041 # 0: no frame
00042 # 1: global frame
00043 string frame_id
00044
00045 ================================================================================
00046 MSG: geometry_msgs/Pose
00047 # A representation of pose in free space, composed of postion and orientation.
00048 Point position
00049 Quaternion orientation
00050
00051 ================================================================================
00052 MSG: geometry_msgs/Point
00053 # This contains the position of a point in free space
00054 float64 x
00055 float64 y
00056 float64 z
00057
00058 ================================================================================
00059 MSG: geometry_msgs/Quaternion
00060 # This represents an orientation in free space in quaternion form.
00061
00062 float64 x
00063 float64 y
00064 float64 z
00065 float64 w
00066
00067 ================================================================================
00068 MSG: geometry_msgs/Vector3
00069 # This represents a vector in free space.
00070
00071 float64 x
00072 float64 y
00073 float64 z
00074 """
00075
00076 GLOBAL_SEARCH = 0
00077 LOCAL_SEARCH = 1
00078 SINGLE_POSE = 2
00079
00080 __slots__ = ['grasp_pose','roi_dims','search_mode']
00081 _slot_types = ['geometry_msgs/PoseStamped','geometry_msgs/Vector3','uint8']
00082
00083 def __init__(self, *args, **kwds):
00084 """
00085 Constructor. Any message fields that are implicitly/explicitly
00086 set to None will be assigned a default value. The recommend
00087 use is keyword arguments as this is more robust to future message
00088 changes. You cannot mix in-order arguments and keyword arguments.
00089
00090 The available fields are:
00091 grasp_pose,roi_dims,search_mode
00092
00093 @param args: complete set of field values, in .msg order
00094 @param kwds: use keyword arguments corresponding to message field names
00095 to set specific fields.
00096 """
00097 if args or kwds:
00098 super(GraspAdjustRequest, self).__init__(*args, **kwds)
00099
00100 if self.grasp_pose is None:
00101 self.grasp_pose = geometry_msgs.msg.PoseStamped()
00102 if self.roi_dims is None:
00103 self.roi_dims = geometry_msgs.msg.Vector3()
00104 if self.search_mode is None:
00105 self.search_mode = 0
00106 else:
00107 self.grasp_pose = geometry_msgs.msg.PoseStamped()
00108 self.roi_dims = geometry_msgs.msg.Vector3()
00109 self.search_mode = 0
00110
00111 def _get_types(self):
00112 """
00113 internal API method
00114 """
00115 return self._slot_types
00116
00117 def serialize(self, buff):
00118 """
00119 serialize message into buffer
00120 @param buff: buffer
00121 @type buff: StringIO
00122 """
00123 try:
00124 _x = self
00125 buff.write(_struct_3I.pack(_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs))
00126 _x = self.grasp_pose.header.frame_id
00127 length = len(_x)
00128 buff.write(struct.pack('<I%ss'%length, length, _x))
00129 _x = self
00130 buff.write(_struct_10dB.pack(_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode))
00131 except struct.error as se: self._check_types(se)
00132 except TypeError as te: self._check_types(te)
00133
00134 def deserialize(self, str):
00135 """
00136 unpack serialized message in str into this message instance
00137 @param str: byte array of serialized message
00138 @type str: str
00139 """
00140 try:
00141 if self.grasp_pose is None:
00142 self.grasp_pose = geometry_msgs.msg.PoseStamped()
00143 if self.roi_dims is None:
00144 self.roi_dims = geometry_msgs.msg.Vector3()
00145 end = 0
00146 _x = self
00147 start = end
00148 end += 12
00149 (_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00150 start = end
00151 end += 4
00152 (length,) = _struct_I.unpack(str[start:end])
00153 start = end
00154 end += length
00155 self.grasp_pose.header.frame_id = str[start:end]
00156 _x = self
00157 start = end
00158 end += 81
00159 (_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode,) = _struct_10dB.unpack(str[start:end])
00160 return self
00161 except struct.error as e:
00162 raise roslib.message.DeserializationError(e)
00163
00164
00165 def serialize_numpy(self, buff, numpy):
00166 """
00167 serialize message with numpy array types into buffer
00168 @param buff: buffer
00169 @type buff: StringIO
00170 @param numpy: numpy python module
00171 @type numpy module
00172 """
00173 try:
00174 _x = self
00175 buff.write(_struct_3I.pack(_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs))
00176 _x = self.grasp_pose.header.frame_id
00177 length = len(_x)
00178 buff.write(struct.pack('<I%ss'%length, length, _x))
00179 _x = self
00180 buff.write(_struct_10dB.pack(_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode))
00181 except struct.error as se: self._check_types(se)
00182 except TypeError as te: self._check_types(te)
00183
00184 def deserialize_numpy(self, str, numpy):
00185 """
00186 unpack serialized message in str into this message instance using numpy for array types
00187 @param str: byte array of serialized message
00188 @type str: str
00189 @param numpy: numpy python module
00190 @type numpy: module
00191 """
00192 try:
00193 if self.grasp_pose is None:
00194 self.grasp_pose = geometry_msgs.msg.PoseStamped()
00195 if self.roi_dims is None:
00196 self.roi_dims = geometry_msgs.msg.Vector3()
00197 end = 0
00198 _x = self
00199 start = end
00200 end += 12
00201 (_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00202 start = end
00203 end += 4
00204 (length,) = _struct_I.unpack(str[start:end])
00205 start = end
00206 end += length
00207 self.grasp_pose.header.frame_id = str[start:end]
00208 _x = self
00209 start = end
00210 end += 81
00211 (_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode,) = _struct_10dB.unpack(str[start:end])
00212 return self
00213 except struct.error as e:
00214 raise roslib.message.DeserializationError(e)
00215
00216 _struct_I = roslib.message.struct_I
00217 _struct_10dB = struct.Struct("<10dB")
00218 _struct_3I = struct.Struct("<3I")
00219 """autogenerated by genmsg_py from GraspAdjustResponse.msg. Do not edit."""
00220 import roslib.message
00221 import struct
00222
00223 import geometry_msgs.msg
00224 import object_manipulation_msgs.msg
00225 import std_msgs.msg
00226
00227 class GraspAdjustResponse(roslib.message.Message):
00228 _md5sum = "8204d8a3e105f84787abc62e550e0312"
00229 _type = "pr2_grasp_adjust/GraspAdjustResponse"
00230 _has_header = False
00231 _full_text = """geometry_msgs/PoseStamped[] grasp_poses
00232 float64[] pose_scores
00233 float32[] gripper_openings
00234
00235 object_manipulation_msgs/ManipulationResult result
00236
00237
00238
00239 ================================================================================
00240 MSG: geometry_msgs/PoseStamped
00241 # A Pose with reference coordinate frame and timestamp
00242 Header header
00243 Pose pose
00244
00245 ================================================================================
00246 MSG: std_msgs/Header
00247 # Standard metadata for higher-level stamped data types.
00248 # This is generally used to communicate timestamped data
00249 # in a particular coordinate frame.
00250 #
00251 # sequence ID: consecutively increasing ID
00252 uint32 seq
00253 #Two-integer timestamp that is expressed as:
00254 # * stamp.secs: seconds (stamp_secs) since epoch
00255 # * stamp.nsecs: nanoseconds since stamp_secs
00256 # time-handling sugar is provided by the client library
00257 time stamp
00258 #Frame this data is associated with
00259 # 0: no frame
00260 # 1: global frame
00261 string frame_id
00262
00263 ================================================================================
00264 MSG: geometry_msgs/Pose
00265 # A representation of pose in free space, composed of postion and orientation.
00266 Point position
00267 Quaternion orientation
00268
00269 ================================================================================
00270 MSG: geometry_msgs/Point
00271 # This contains the position of a point in free space
00272 float64 x
00273 float64 y
00274 float64 z
00275
00276 ================================================================================
00277 MSG: geometry_msgs/Quaternion
00278 # This represents an orientation in free space in quaternion form.
00279
00280 float64 x
00281 float64 y
00282 float64 z
00283 float64 w
00284
00285 ================================================================================
00286 MSG: object_manipulation_msgs/ManipulationResult
00287 # Result codes for manipulation tasks
00288
00289 # task completed as expected
00290 # generally means you can proceed as planned
00291 int32 SUCCESS = 1
00292
00293 # task not possible (e.g. out of reach or obstacles in the way)
00294 # generally means that the world was not disturbed, so you can try another task
00295 int32 UNFEASIBLE = -1
00296
00297 # task was thought possible, but failed due to unexpected events during execution
00298 # it is likely that the world was disturbed, so you are encouraged to refresh
00299 # your sensed world model before proceeding to another task
00300 int32 FAILED = -2
00301
00302 # a lower level error prevented task completion (e.g. joint controller not responding)
00303 # generally requires human attention
00304 int32 ERROR = -3
00305
00306 # means that at some point during execution we ended up in a state that the collision-aware
00307 # arm navigation module will not move out of. The world was likely not disturbed, but you
00308 # probably need a new collision map to move the arm out of the stuck position
00309 int32 ARM_MOVEMENT_PREVENTED = -4
00310
00311 # specific to grasp actions
00312 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested
00313 # it is likely that the collision environment will see collisions between the hand/object and the support surface
00314 int32 LIFT_FAILED = -5
00315
00316 # specific to place actions
00317 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested
00318 # it is likely that the collision environment will see collisions between the hand and the object
00319 int32 RETREAT_FAILED = -6
00320
00321 # indicates that somewhere along the line a human said "wait, stop, this is bad, go back and do something else"
00322 int32 CANCELLED = -7
00323
00324 # the actual value of this error code
00325 int32 value
00326
00327 """
00328 __slots__ = ['grasp_poses','pose_scores','gripper_openings','result']
00329 _slot_types = ['geometry_msgs/PoseStamped[]','float64[]','float32[]','object_manipulation_msgs/ManipulationResult']
00330
00331 def __init__(self, *args, **kwds):
00332 """
00333 Constructor. Any message fields that are implicitly/explicitly
00334 set to None will be assigned a default value. The recommend
00335 use is keyword arguments as this is more robust to future message
00336 changes. You cannot mix in-order arguments and keyword arguments.
00337
00338 The available fields are:
00339 grasp_poses,pose_scores,gripper_openings,result
00340
00341 @param args: complete set of field values, in .msg order
00342 @param kwds: use keyword arguments corresponding to message field names
00343 to set specific fields.
00344 """
00345 if args or kwds:
00346 super(GraspAdjustResponse, self).__init__(*args, **kwds)
00347
00348 if self.grasp_poses is None:
00349 self.grasp_poses = []
00350 if self.pose_scores is None:
00351 self.pose_scores = []
00352 if self.gripper_openings is None:
00353 self.gripper_openings = []
00354 if self.result is None:
00355 self.result = object_manipulation_msgs.msg.ManipulationResult()
00356 else:
00357 self.grasp_poses = []
00358 self.pose_scores = []
00359 self.gripper_openings = []
00360 self.result = object_manipulation_msgs.msg.ManipulationResult()
00361
00362 def _get_types(self):
00363 """
00364 internal API method
00365 """
00366 return self._slot_types
00367
00368 def serialize(self, buff):
00369 """
00370 serialize message into buffer
00371 @param buff: buffer
00372 @type buff: StringIO
00373 """
00374 try:
00375 length = len(self.grasp_poses)
00376 buff.write(_struct_I.pack(length))
00377 for val1 in self.grasp_poses:
00378 _v1 = val1.header
00379 buff.write(_struct_I.pack(_v1.seq))
00380 _v2 = _v1.stamp
00381 _x = _v2
00382 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00383 _x = _v1.frame_id
00384 length = len(_x)
00385 buff.write(struct.pack('<I%ss'%length, length, _x))
00386 _v3 = val1.pose
00387 _v4 = _v3.position
00388 _x = _v4
00389 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00390 _v5 = _v3.orientation
00391 _x = _v5
00392 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00393 length = len(self.pose_scores)
00394 buff.write(_struct_I.pack(length))
00395 pattern = '<%sd'%length
00396 buff.write(struct.pack(pattern, *self.pose_scores))
00397 length = len(self.gripper_openings)
00398 buff.write(_struct_I.pack(length))
00399 pattern = '<%sf'%length
00400 buff.write(struct.pack(pattern, *self.gripper_openings))
00401 buff.write(_struct_i.pack(self.result.value))
00402 except struct.error as se: self._check_types(se)
00403 except TypeError as te: self._check_types(te)
00404
00405 def deserialize(self, str):
00406 """
00407 unpack serialized message in str into this message instance
00408 @param str: byte array of serialized message
00409 @type str: str
00410 """
00411 try:
00412 if self.result is None:
00413 self.result = object_manipulation_msgs.msg.ManipulationResult()
00414 end = 0
00415 start = end
00416 end += 4
00417 (length,) = _struct_I.unpack(str[start:end])
00418 self.grasp_poses = []
00419 for i in range(0, length):
00420 val1 = geometry_msgs.msg.PoseStamped()
00421 _v6 = val1.header
00422 start = end
00423 end += 4
00424 (_v6.seq,) = _struct_I.unpack(str[start:end])
00425 _v7 = _v6.stamp
00426 _x = _v7
00427 start = end
00428 end += 8
00429 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00430 start = end
00431 end += 4
00432 (length,) = _struct_I.unpack(str[start:end])
00433 start = end
00434 end += length
00435 _v6.frame_id = str[start:end]
00436 _v8 = val1.pose
00437 _v9 = _v8.position
00438 _x = _v9
00439 start = end
00440 end += 24
00441 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00442 _v10 = _v8.orientation
00443 _x = _v10
00444 start = end
00445 end += 32
00446 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00447 self.grasp_poses.append(val1)
00448 start = end
00449 end += 4
00450 (length,) = _struct_I.unpack(str[start:end])
00451 pattern = '<%sd'%length
00452 start = end
00453 end += struct.calcsize(pattern)
00454 self.pose_scores = struct.unpack(pattern, str[start:end])
00455 start = end
00456 end += 4
00457 (length,) = _struct_I.unpack(str[start:end])
00458 pattern = '<%sf'%length
00459 start = end
00460 end += struct.calcsize(pattern)
00461 self.gripper_openings = struct.unpack(pattern, str[start:end])
00462 start = end
00463 end += 4
00464 (self.result.value,) = _struct_i.unpack(str[start:end])
00465 return self
00466 except struct.error as e:
00467 raise roslib.message.DeserializationError(e)
00468
00469
00470 def serialize_numpy(self, buff, numpy):
00471 """
00472 serialize message with numpy array types into buffer
00473 @param buff: buffer
00474 @type buff: StringIO
00475 @param numpy: numpy python module
00476 @type numpy module
00477 """
00478 try:
00479 length = len(self.grasp_poses)
00480 buff.write(_struct_I.pack(length))
00481 for val1 in self.grasp_poses:
00482 _v11 = val1.header
00483 buff.write(_struct_I.pack(_v11.seq))
00484 _v12 = _v11.stamp
00485 _x = _v12
00486 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00487 _x = _v11.frame_id
00488 length = len(_x)
00489 buff.write(struct.pack('<I%ss'%length, length, _x))
00490 _v13 = val1.pose
00491 _v14 = _v13.position
00492 _x = _v14
00493 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00494 _v15 = _v13.orientation
00495 _x = _v15
00496 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00497 length = len(self.pose_scores)
00498 buff.write(_struct_I.pack(length))
00499 pattern = '<%sd'%length
00500 buff.write(self.pose_scores.tostring())
00501 length = len(self.gripper_openings)
00502 buff.write(_struct_I.pack(length))
00503 pattern = '<%sf'%length
00504 buff.write(self.gripper_openings.tostring())
00505 buff.write(_struct_i.pack(self.result.value))
00506 except struct.error as se: self._check_types(se)
00507 except TypeError as te: self._check_types(te)
00508
00509 def deserialize_numpy(self, str, numpy):
00510 """
00511 unpack serialized message in str into this message instance using numpy for array types
00512 @param str: byte array of serialized message
00513 @type str: str
00514 @param numpy: numpy python module
00515 @type numpy: module
00516 """
00517 try:
00518 if self.result is None:
00519 self.result = object_manipulation_msgs.msg.ManipulationResult()
00520 end = 0
00521 start = end
00522 end += 4
00523 (length,) = _struct_I.unpack(str[start:end])
00524 self.grasp_poses = []
00525 for i in range(0, length):
00526 val1 = geometry_msgs.msg.PoseStamped()
00527 _v16 = val1.header
00528 start = end
00529 end += 4
00530 (_v16.seq,) = _struct_I.unpack(str[start:end])
00531 _v17 = _v16.stamp
00532 _x = _v17
00533 start = end
00534 end += 8
00535 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00536 start = end
00537 end += 4
00538 (length,) = _struct_I.unpack(str[start:end])
00539 start = end
00540 end += length
00541 _v16.frame_id = str[start:end]
00542 _v18 = val1.pose
00543 _v19 = _v18.position
00544 _x = _v19
00545 start = end
00546 end += 24
00547 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00548 _v20 = _v18.orientation
00549 _x = _v20
00550 start = end
00551 end += 32
00552 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00553 self.grasp_poses.append(val1)
00554 start = end
00555 end += 4
00556 (length,) = _struct_I.unpack(str[start:end])
00557 pattern = '<%sd'%length
00558 start = end
00559 end += struct.calcsize(pattern)
00560 self.pose_scores = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00561 start = end
00562 end += 4
00563 (length,) = _struct_I.unpack(str[start:end])
00564 pattern = '<%sf'%length
00565 start = end
00566 end += struct.calcsize(pattern)
00567 self.gripper_openings = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00568 start = end
00569 end += 4
00570 (self.result.value,) = _struct_i.unpack(str[start:end])
00571 return self
00572 except struct.error as e:
00573 raise roslib.message.DeserializationError(e)
00574
00575 _struct_I = roslib.message.struct_I
00576 _struct_i = struct.Struct("<i")
00577 _struct_4d = struct.Struct("<4d")
00578 _struct_2I = struct.Struct("<2I")
00579 _struct_3d = struct.Struct("<3d")
00580 class GraspAdjust(roslib.message.ServiceDefinition):
00581 _type = 'pr2_grasp_adjust/GraspAdjust'
00582 _md5sum = '155f94ed302ff095096df9b37ecc7886'
00583 _request_class = GraspAdjustRequest
00584 _response_class = GraspAdjustResponse
