Merge pull request #1767 from wkentaro/check-grasp-before-saving

Check the grasp before saving data
start-jsk · Jun 22, 2016 · 4a66086 · 4a66086
2 parents 1f1780f + 30423fe
commit 4a66086
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diff --git a/jsk_2016_01_baxter_apc/euslisp/in-hand-data-collection-main.l b/jsk_2016_01_baxter_apc/euslisp/in-hand-data-collection-main.l
@@ -256,6 +256,10 @@
         (send self :view-hand-pose :pos :i)
         )
       (send self :set-param-hand-pose)
+      (if (send *ri* :graspingp arm_)
+        (ros::set-param "~object_label" (elt object-list_ object-id_))
+        (ros::set-param "~object_label" "no_object")
+        )
       (send self :send-save-request)
       ;; View hand randomly (optimally in future)
       ;; TODO(wkentaro): view hand optimally here with ML
@@ -264,6 +268,10 @@
         (send self :view-hand-pose)
         (send self :set-param-hand-pose)
         ;; Send saving request
+        (if (send *ri* :graspingp arm_)
+          (ros::set-param "~object_label" (elt object-list_ object-id_))
+          (ros::set-param "~object_label" "no_object")
+          )
         (send self :send-save-request)
         )
       (while

diff --git a/jsk_2016_01_baxter_apc/launch/in_hand_data_collection.launch b/jsk_2016_01_baxter_apc/launch/in_hand_data_collection.launch
@@ -104,6 +104,9 @@
   </node>
 
   <!-- Recoding -->
-  <include file="$(find jsk_tools)/launch/record_axis_camera.launch" />
+  <include file="$(find jsk_tools)/launch/record_axis_camera.launch">
+    <arg name="stamped_filename" value="true" />
+    <arg name="filename" value="$(env HOME)/.ros/jsk_2016_01_baxter_apc/in_hand_data_collection/.avi" />
+  </include>
 
 </launch>