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tutorials:intermediate:bullet_world [2019/07/08 17:25] – [Moving the robot in the Bullet world] gkazhoya | tutorials:intermediate:bullet_world [2023/05/02 14:15] (current) – [Abstract entity descriptions] gkazhoya | ||
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- | **//Tested with Cram v0.7.0, ROS version: | + | **//Tested with Cram v0.8.0, ROS version: |
====== Bullet world demonstration ====== | ====== Bullet world demonstration ====== | ||
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(cram-robot-interfaces: | (cram-robot-interfaces: | ||
(assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf , | (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf , | ||
- | (cram-robot-interfaces:robot-arms-parking-joint-states ?robot ? | + | (-> (rob-int: |
- | (assert (btr: | + | (assert (btr: |
- | (assert (btr: | + | (true)) |
+ | | ||
+ | | ||
+ | (true))))) | ||
</ | </ | ||
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<code lisp> | <code lisp> | ||
- | BTW-TUT> (btr:object btr: | + | BTW-TUT> (btr:object btr: |
</ | </ | ||
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(btr: | (btr: | ||
' | ' | ||
- | | + | |
</ | </ | ||
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<code lisp> | <code lisp> | ||
BTW-TUT> (prolog: | BTW-TUT> (prolog: | ||
- | (cram-robot-interfaces:robot ?robot) | + | (rob-int:robot ?robot) |
(btr: | (btr: | ||
NIL | NIL | ||
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BTW-TUT> | BTW-TUT> | ||
(def-fact-group costmap-metadata () | (def-fact-group costmap-metadata () | ||
- | (<- (location-costmap: | + | (<- (costmap-size 12 12)) |
- | (<- (location-costmap: | + | (<- (costmap-origin -6 -6)) |
- | (<- (location-costmap: | + | (<- (costmap-resolution 0.04)) |
- | + | ||
- | (<- (location-costmap: | + | (<- (costmap-padding 0.3)) |
- | (<- (location-costmap: | + | (<- (costmap-manipulation-padding 0.4)) |
- | (<- (location-costmap: | + | (<- (costmap-in-reach-distance 0.7)) |
- | (<- (location-costmap: | + | (<- (costmap-reach-minimal-distance 0.2)) |
- | (<- (location-costmap: | + | (<- (visibility-costmap-size 2)) |
- | (<- (location-costmap: | + | (<- (orientation-samples 2)) |
- | (<- (location-costmap: | + | (<- (orientation-sample-step 0.1))) |
</ | </ | ||
Now, we create an abstract location description that we call a // | Now, we create an abstract location description that we call a // | ||
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(type counter-top) | (type counter-top) | ||
| | ||
- | | + | |
| | ||
| | ||
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(btr: | (btr: | ||
' | ' | ||
- | | + | |
</ | </ | ||
The drawer is called ''" | The drawer is called ''" | ||
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(prolog '(and (btr: | (prolog '(and (btr: | ||
(btr: | (btr: | ||
- | (assert (btr: | + | (assert (btr: |
</ | </ | ||
Notice, that the joint name differs from the link name. Now the fork moves when the drawer is moved. | Notice, that the joint name differs from the link name. Now the fork moves when the drawer is moved. | ||
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(btr: | (btr: | ||
' | ' | ||
- | | + | |
</ | </ | ||
Every attachment can be checked with the following predicate: | Every attachment can be checked with the following predicate: | ||
<code lisp> | <code lisp> | ||
(prolog '(and (btr: | (prolog '(and (btr: | ||
- | (btr: | + | (btr: |
</ | </ | ||
This checks if there is any attachments between kitchen and fork. If needed, it is possible to set the name of a link to be specifically checked. Or set the ''? | This checks if there is any attachments between kitchen and fork. If needed, it is possible to set the name of a link to be specifically checked. Or set the ''? | ||
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(prolog '(and (btr: | (prolog '(and (btr: | ||
(btr: | (btr: | ||
- | (btr: | + | (btr: |
</ | </ | ||
This detaches the fork from all the links of the kitchen that it has been attached to. | This detaches the fork from all the links of the kitchen that it has been attached to. | ||
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and the following does: | and the following does: | ||
<code lisp> | <code lisp> | ||
- | BTW-TUT> (pr2-proj: | + | BTW-TUT> (urdf-proj: |
| | ||
</ | </ | ||
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==== Moving the robot in the Bullet world ==== | ==== Moving the robot in the Bullet world ==== | ||
- | In this part of the tutorial we will look into moving the robot and it's body parts as well as perceiving objects through the Bullet world. We will use functions from the '' | + | In this part of the tutorial we will look into moving the robot and it's body parts as well as perceiving objects through the Bullet world. We will use functions from the '' |
- | This teleporting is done by directly calling Prolog predicates that move objects in the world (for navigating the robot, simply teleport it to the goal), changing joint angles (to move the arm simply teleport the arm to given joint values) etc. '' | + | This teleporting is done by directly calling Prolog predicates that move objects in the world (for navigating the robot, simply teleport it to the goal), changing joint angles (to move the arm simply teleport the arm to given joint values) etc. '' |
Another package that we will use in this part of the tutorial is '' | Another package that we will use in this part of the tutorial is '' | ||
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BTW-TUT> (btr-utils: | BTW-TUT> (btr-utils: | ||
(cl-transforms: | (cl-transforms: | ||
- | | + | |
| | ||
</ | </ | ||
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<code lisp> | <code lisp> | ||
BTW-TUT> | BTW-TUT> | ||
- | (pr2-proj: | + | (urdf-proj: |
- | (pr2-proj:: | + | (urdf-proj:: |
| | ||
| | ||
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| | ||
| | ||
- | (pr2-proj:: | + | (urdf-proj:: |
- | (pr2-proj:: | + | (urdf-proj:: |
</ | </ | ||
- | As some of the functions in '' | + | As some of the functions in '' |
- | The function '' | + | The function '' |
<code lisp> | <code lisp> | ||
(prolog: | (prolog: | ||
</ | </ | ||
- | '' | + | '' |
Now, let us finally perceive the object and store the result in the '' | Now, let us finally perceive the object and store the result in the '' | ||
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BTW-TUT> | BTW-TUT> | ||
(defvar *perceived-object* nil " | (defvar *perceived-object* nil " | ||
- | (pr2-proj: | + | (urdf-proj: |
(setf *perceived-object* | (setf *perceived-object* | ||
- | (pr2-proj:: | + | (urdf-proj:: |
</ | </ | ||
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<code lisp> | <code lisp> | ||
- | (pr2-proj: | + | (urdf-proj: |
- | (let ((? | + | (urdf-proj:: |
- | (pr2-proj:: | + | |
</ | </ | ||