From f6280970b1134fef316e675a7e3bec09999ea3c9 Mon Sep 17 00:00:00 2001 From: Oscar Lima Date: Mon, 8 Apr 2024 16:32:20 +0200 Subject: [PATCH] add loginfo about object being removed from pose selector upon successfull picking --- src/grasplan/pick.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/grasplan/pick.py b/src/grasplan/pick.py index 934af8a..d376b45 100755 --- a/src/grasplan/pick.py +++ b/src/grasplan/pick.py @@ -381,6 +381,9 @@ def pick_object(self, object_name_as_string, support_surface_name, grasp_type, i # handle moveit pick result if result == MoveItErrorCodes.SUCCESS: # remove picked object pose from pose selector + rospy.loginfo( + 'removing picked object from pose selector due to succesfull execution (as reported by moveit)' + ) self.pose_selector_delete_srv(class_id=object_to_pick.obj_class, instance_id=object_to_pick.id) rospy.loginfo(f'Successfully picked object : {object_to_pick.get_object_class_and_id_as_string()}') # clear possible grasps shown as mesh in rviz