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I installed the database (household_0.4) on our PR2 and still get some errors, though this time, they are a bit different:

engelhar@marvin:~$ rosservice call /objects_database_node/database_grasp_planning "{arm_name: right_arm, target: {potential_models: [{ model_id: 18780 }] } }"

grasps: [] error_code: value: 2

And the service says: LINE 1: ...rasp_compliant_original_id, grasp_scaled_quality, fingertip_... ^

I now installed the database (household_0.4) on our PR2 and still get some errors, though this time, they are a bit different:

engelhar@marvin:~$ rosservice call /objects_database_node/database_grasp_planning "{arm_name: right_arm, target: {potential_models: [{ model_id: 18780 }] } }" }" grasps: [] error_code: value: 2 2

And the service ~~says:~~ says:

[ERROR] [1312116981.010510658]: Hand description: could not find parameter /hand_description/right_arm/hand_database_name [ERROR] [1312116981.011074672]: Database get list: query failed. Error: ERROR: column "fingertip_object_collision" does not exist LINE 1: ...rasp_compliant_original_id, grasp_scaled_quality, fingertip_... ^^ [ERROR] [1312116981.011722189]: Database grasp planning: database query error

I checked for the "grasp_compliant_copy" value and its boolean and false by default.