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tutorials:intermediate:fetch_deliver_plans [2019/07/16 11:04] – [Atomic actions] tlippstutorials:intermediate:fetch_deliver_plans [2022/07/04 12:31] (current) – [search-for-object] khoshnam
Line 79: Line 79:
  
 <code lisp> <code lisp>
-(urdf-proj:with-projected-robot+CL-USER> (urdf-proj:with-projected-robot
            (let ((?pose (cl-transforms-stamped:make-pose-stamped            (let ((?pose (cl-transforms-stamped:make-pose-stamped
                          "map" 0.0                          "map" 0.0
Line 176: Line 176:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +           (cram-executive:perform 
-              (let ((?pose (cl-transforms-stamped:make-pose-stamped +            (let ((?pose (cl-transforms-stamped:make-pose-stamped 
-                            "base_footprint" 0.0 +                          "base_footprint" 0.0 
-                            (cl-transforms:make-3d-vector 0.7 0.5 0.8) +                          (cl-transforms:make-3d-vector 0.7 0.5 0.8) 
-                            (cl-transforms:make-identity-rotation)))) +                          (cl-transforms:make-identity-rotation)))) 
-                (desig:an action +              (desig:an action 
-                          (type looking) +                        (type looking) 
-                          (target (desig:a location (pose ?pose)))))))+                        (target (desig:a location (pose ?pose)))))))
 </code> </code>
  
Line 190: Line 190:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +           (cram-executive:perform 
-              (desig:an action +            (desig:an action 
-                        (type detecting) +                      (type detecting) 
-                        (object (desig:an object (type cup))))))+                      (object (desig:an object (type cup))))))
 </code> </code>
                                                  
Line 200: Line 200:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (let ((?obj *)) +           (let ((?obj *)) 
-               (cram-executive:perform +             (cram-executive:perform 
-                (desig:an action +              (desig:an action 
-                          (type picking-up) +                        (type picking-up) 
-                          (object ?obj))))) +                        (object ?obj) 
-</code> +                        (arm left) 
-                           +                        (grasp top)))))
-The missing information is inferred automatically. +
- +
-But, we can specify the arm explicitly: +
- +
-<code lisp> +
-CL-USER> (pr2-proj:with-projected-robot +
-             (let ((?obj *)) +
-               (cram-executive:perform +
-                (desig:an action +
-                          (type picking-up) +
-                          (object ?obj) +
-                          (arm left))))) +
-</code> +
- +
-And the grasp type as well: +
- +
-<code lisp> +
-(pr2-proj:with-projected-robot +
-             (let ((?obj *)) +
-               (cram-executive:perform +
-                (desig:an action +
-                          (type picking-up) +
-                          (object ?obj) +
-                          (arm left) +
-                          (grasp side)))))+
 </code> </code>
 +                         
                                                      
 Object got attached through an event, so now it will always follow the robot: Object got attached through an event, so now it will always follow the robot:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +           (let ((?pose (cl-transforms-stamped:make-pose-stamped 
-              (let ((?pose (cl-transforms-stamped:make-pose-stamped +                         "map" 0.0 
-                            "map" 0.0 +                         (cl-transforms:make-3d-vector -0.5 0 0) 
-                            (cl-transforms:make-3d-vector -0.5 0 0) +                         (cl-transforms:make-identity-rotation)))) 
-                            (cl-transforms:make-identity-rotation)))) +             (cram-executive:perform  
-                (desig:an action +              (desig:an action 
-                          (type going) +                        (type going) 
-                          (target (desig:a location +                        (target (desig:a location 
-                                           (pose ?pose)))))))+                                         (pose ?pose)))))))
 </code> </code>
                                                                                        
Line 253: Line 229:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +           (cram-executive:perform 
-              (desig:an action +            (desig:an action 
-                        (type placing) +                      (type placing) 
-                        (arm left))))+                      (arm left))))
 </code> </code>
                                                  
Line 266: Line 242:
 We do this by loading the packages ''cram_pr2_pick_and_place'' and ''cram_bullet_world_tutorial'' ... We do this by loading the packages ''cram_pr2_pick_and_place'' and ''cram_bullet_world_tutorial'' ...
 <code lisp> <code lisp>
-(ros-load:load-system "cram_pr2_pick_and_place" :cram_pr2_pick_and_place) +(ros-load:load-system "cram_pr2_pick_place_demo" :cram-pr2-pick-place-demo) 
-(ros-load:load-system "cram_bullet_world_tutorial" :cram_bullet_world_tutorial)+(ros-load:load-system "cram_bullet_world_tutorial" :cram-bullet-world-tutorial)
 </code> </code>
 ... and call the following functions: ... and call the following functions:
-<code>+<code lisp>
 (in-package :cram-bullet-world-tutorial) (in-package :cram-bullet-world-tutorial)
 (roslisp-utilities:startup-ros) (roslisp-utilities:startup-ros)
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 ;; location desigs can turn NILL in the course of execution ;; location desigs can turn NILL in the course of execution
 ;; but should not be passed as NILL to start with. ;; but should not be passed as NILL to start with.
-(type (or desig:location-designator null) ?search-location ?robot-location))+(type (or desig:location-designator null) ?search-location ?robot-location)))
 "Searches for `?object-designator' in its likely location `?search-location'. "Searches for `?object-designator' in its likely location `?search-location'.
 If the object is not there or navigation location is unreachable, If the object is not there or navigation location is unreachable,