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playground:playground [2019/07/10 10:32] – tlippsplayground:playground [2019/07/10 11:58] – tlipps
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 After that the robot gets correctly positioned and kitchen objects spawned before starting. After that the robot gets correctly positioned and kitchen objects spawned before starting.
  
-{{playground:start.png?500|}}+{{ playground:start.png?500 |}}
  
 Since we passed ''(demo-random)'' the object of type bowl the actions searching and transporting will be executed: Since we passed ''(demo-random)'' the object of type bowl the actions searching and transporting will be executed:
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 <code lisp> <code lisp>
 (defun transport (&key (defun transport (&key
-((:object ?object-designator)) +                    ((:object ?object-designator)) 
-((:search-location ?search-location)) +                    ((:search-location ?search-location)) 
-((:search-robot-location ?search-base-location)) +                    ((:search-robot-location ?search-base-location)) 
-((:fetch-robot-location ?fetch-robot-location)) +                    ((:fetch-robot-location ?fetch-robot-location)) 
-((:arm ?arm)) +                    ((:arm ?arm)) 
-((:grasp ?grasp)) +                    ((:grasp ?grasp)) 
-((:arms ?arms)) +                    ((:arms ?arms)) 
-((:grasps ?grasps)) +                    ((:grasps ?grasps)) 
-((:deliver-location ?delivering-location)) +                    ((:deliver-location ?delivering-location)) 
-((:deliver-robot-location ?deliver-robot-location)) +                    ((:deliver-robot-location ?deliver-robot-location)) 
-search-location-accessible +                    search-location-accessible 
-delivery-location-accessible +                    delivery-location-accessible 
-&allow-other-keys)+                  &allow-other-keys)
 </code> </code>
-text...+
 <code lisp> <code lisp>
 (unless search-location-accessible (unless search-location-accessible
-(exe:perform (desig:an action +    (exe:perform (desig:an action 
-(type accessing) +                           (type accessing) 
-(location ?search-location) +                           (location ?search-location) 
-(distance 0.3))))+                           (distance 0.48))))
 </code> </code>
  
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 <code lisp> <code lisp>
 (unwind-protect (unwind-protect
-(let ((?perceived-object-designator +       (let ((?perceived-object-designator 
-(exe:perform (desig:an action +               (exe:perform (desig:an action 
-(type searching) +                                      (type searching) 
-(object ?object-designator) +                                      (object ?object-designator) 
-(location ?search-location) +                                      (location ?search-location) 
-(desig:when ?search-base-location +                                      (desig:when ?search-base-location 
-(robot-location ?search-base-location)))))+                                        (robot-location ?search-base-location)))))
 </code> </code>
 To fetch the object the object first has to be searched. For this we create To fetch the object the object first has to be searched. For this we create
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 <code lisp> <code lisp>
 (unless ?fetch-robot-location (unless ?fetch-robot-location
-(setf ?fetch-robot-location +           (setf ?fetch-robot-location 
-(desig:a location +                 (desig:a location 
-(reachable-for ?robot-name) +                          (reachable-for ?robot-name) 
-(desig:when ?arm +                          (desig:when ?arm 
-(arm ?arm)) +                            (arm ?arm)) 
-(object ?perceived-object-designator)))) +                          (object ?perceived-object-designator)))) 
-(unless ?deliver-robot-location +         (unless ?deliver-robot-location 
-(setf ?deliver-robot-location +           (setf ?deliver-robot-location 
-(desig:a location +                 (desig:a location 
-(reachable-for ?robot-name) +                          (reachable-for ?robot-name) 
-(location ?delivering-location))))+                          (location ?delivering-location))))
 </code> </code>
 Moreover, we need the fetch- and deliver-robot-locations. The ?fetch-robot-location location-designator take the the perceived object and the deliver-robot-location location designator take the location where it should be delivered to. Moreover, we need the fetch- and deliver-robot-locations. The ?fetch-robot-location location-designator take the the perceived object and the deliver-robot-location location designator take the location where it should be delivered to.
  
 <code lisp> <code lisp>
-;; If running on the real robot, execute below task tree in projection +         ;; If running on the real robot, execute below task tree in projection 
-;; N times first, then pick the best parameterization +         ;; N times first, then pick the best parameterization 
-;; and use that parameterization in the real world. +         ;; and use that parameterization in the real world. 
-;; If running in projection, just execute the task tree below as normal. +         ;; If running in projection, just execute the task tree below as normal. 
-(let (?fetch-pick-up-action ?deliver-place-action) +         (let (?fetch-pick-up-action ?deliver-place-action) 
-(proj-reasoning:with-projected-task-tree +           (proj-reasoning:with-projected-task-tree 
-(?fetch-robot-location ?fetch-pick-up-action +               (?fetch-robot-location ?fetch-pick-up-action 
-?deliver-robot-location ?deliver-place-action) +                                      ?deliver-robot-location ?deliver-place-action) 
-3 +               3 
-#'proj-reasoning:pick-best-parameters-by-distance+               #'proj-reasoning:pick-best-parameters-by-distance
  
-(let ((?fetched-object +             (let ((?fetched-object 
-(exe:perform (desig:an action +                     (exe:perform (desig:an action 
-(type fetching) +                                            (type fetching) 
-(desig:when ?arm +                                            (desig:when ?arm 
-(arm ?arm)) +                                              (arm ?arm)) 
-(desig:when ?grasp +                                            (desig:when ?grasp 
-(grasp ?grasp)) +                                              (grasp ?grasp)) 
-(desig:when ?arms +                                            (desig:when ?arms 
-(arms ?arms)) +                                              (arms ?arms)) 
-(desig:when ?grasps +                                            (desig:when ?grasps 
-(grasps ?grasps)) +                                              (grasps ?grasps)) 
-(object ?perceived-object-designator) +                                            (object ?perceived-object-designator) 
-(robot-location ?fetch-robot-location) +                                            (robot-location ?fetch-robot-location) 
-(pick-up-action ?fetch-pick-up-action)))))+                                            (pick-up-action ?fetch-pick-up-action)))))
 </code> </code>
 Now we create the action designator fetching and execute it. If the arms and graps are given we set them so they will be used by ''fetch''. Moreover, the perceived object is given and the ''?fetch-robot-location'' like the example above. For the low level function ''pick-up'' a placeholder is given too. Now we create the action designator fetching and execute it. If the arms and graps are given we set them so they will be used by ''fetch''. Moreover, the perceived object is given and the ''?fetch-robot-location'' like the example above. For the low level function ''pick-up'' a placeholder is given too.
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 <code lisp> <code lisp>
 (unless delivery-location-accessible (unless delivery-location-accessible
-(exe:perform (desig:an action +                   (exe:perform (desig:an action 
-(type accessing) +                                          (type accessing) 
-(location ?delivering-location) +                                          (location ?delivering-location) 
-(distance 0.3)))) +                                          (distance 0.3)))) 
-(unwind-protect +                 (unwind-protect 
-(exe:perform (desig:an action +                      (exe:perform (desig:an action 
-(type delivering) +                                             (type delivering) 
-(desig:when ?arm +                                             (desig:when ?arm 
-(arm ?arm)) +                                               (arm ?arm)) 
-(object ?fetched-object) +                                             (object ?fetched-object) 
-(target ?delivering-location) +                                             (target ?delivering-location) 
-(robot-location ?deliver-robot-location) +                                             (robot-location ?deliver-robot-location) 
-(place-action ?deliver-place-action))) +                                             (place-action ?deliver-place-action))) 
-(unless delivery-location-accessible +                   (unless delivery-location-accessible 
-(exe:perform (desig:an action +                     (exe:perform (desig:an action 
-(type sealing) +                                            (type sealing) 
-(location ?delivering-location) +                                            (location ?delivering-location) 
-(distance 0.3)))))))))+                                            (distance 0.3))))))))))
 </code> </code>
 In the last part of this function we first check if the deliver location is accessible (''delivery-location-accessible'') and if not get access with executing an action. Then we deliver the fetched object to the ''?delivering-location'' by moving the robot_base to ''?deliver-robot-location'' and given an placeholder for the low-level function ''place''.   In the last part of this function we first check if the deliver location is accessible (''delivery-location-accessible'') and if not get access with executing an action. Then we deliver the fetched object to the ''?delivering-location'' by moving the robot_base to ''?deliver-robot-location'' and given an placeholder for the low-level function ''place''.  
  
 <code lisp> <code lisp>
-(unless search-location-accessible + (unless search-location-accessible 
-(exe:perform (desig:an action +      (exe:perform (desig:an action 
-(type sealing) +                             (type sealing) 
-(location ?search-location) +                             (location ?search-location) 
-(distance 0.3))))))+                             (distance 0.48))))))
 </code> </code>