changed service to return chosen object index (required for solving h… - Githubissues

SoMa-Project / ec_grasp_planner

Grasp Planner Based on Environmental Constraint Exploitation

BSD 3-Clause "New" or "Revised" License

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changed service to return chosen object index (required for solving h… #37

Closed JannisW closed 5 years ago

JannisW commented 5 years ago

This PR together with (https://github.com/SoMa-Project/soma_utils/pull/122) solves https://github.com/SoMa-Project/soma_utils/issues/118

This PR will do the following:

The planner service interface changed. It will now also return the index of the selected object.
Therefore the function process_objects_ecs in multi_object_params.py has to return the selected index instead of the actual object in the array of detected objects.

It was tested on WAM56 and seemed alright.