From 1e16e9c90a46432e5d1173d555588f3162bb56cf Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Sun, 19 Jun 2016 18:07:09 +0900
Subject: [PATCH 1/2] Use stamped filename for video recording with axis camera

---
 jsk_2016_01_baxter_apc/launch/in_hand_data_collection.launch | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

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
index 48aa8b910..ff82ca614 100644
--- 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>

From 30423fe181db355213b12d13bc067fea1c0b53c3 Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Tue, 21 Jun 2016 22:08:29 +0900
Subject: [PATCH 2/2] Check the grasp before saving data

---
 .../euslisp/in-hand-data-collection-main.l                | 8 ++++++++
 1 file changed, 8 insertions(+)

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
index 3c74ef8d9..5e0ec7a06 100755
--- 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