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tutorials:demo:fetch_and_place [2020/02/06 15:00]
hawkin feedback Alina
tutorials:demo:fetch_and_place [2020/09/22 23:26] (current)
gkazhoya [Simple Plan]
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 +===== Motivation =====
  
 +The aim of the tutorial is to give an intuition about the complexity of robot mobile manipulation tasks and about the knowledge that is required to execute actions successfully.
  
 +The tutorial:
 +  - Gives an intuition of what knowledge does the robot need (and how much knowledge) to execute even a simple fetch and place, e.g., robot needs to answer questions such as "where should I stand?",​ "which grasp pose should I use?", etc.
 +  - Shows how many different things can go wrong, and teaches writing simple failure handling strategies.
 +  - Teaches how to call existing actions from the CRAM framework, i.e. how to use designators (but not program new ones).
 +  ​
  
 ===== Setting Up ===== ===== Setting Up =====
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 (defparameter *base-pose-near-counter* (defparameter *base-pose-near-counter*
-  (make-pose "base_footprint" '​((-0.150d0 2.0d0 0.0d0) (0.0d0 0.0d0 -1.0d0 0.0d0))))+  (make-pose "map" '​((-0.150d0 2.0d0 0.0d0) (0.0d0 0.0d0 -1.0d0 0.0d0))))
 </​code>​ </​code>​
  
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 (defparameter *base-pose-near-counter* (defparameter *base-pose-near-counter*
-  (make-pose "base_footprint" '​((-0.15 2 0) (0 0 -1 0))))+  (make-pose "map" '​((-0.15 2 0) (0 0 -1 0))))
    
 (defparameter *final-object-destination* (defparameter *final-object-destination*
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                            ​(object ?​perceived-bottle)))))                            ​(object ?​perceived-bottle)))))
 </​code>​ </​code>​
-You will see that PR2 will successfully grasp the bottle from the grasp pose that we defined.+You will see that PR2 will successfully grasp the bottle from the grasp pose that we defined. Another useful documentation on this point is [[http://​cram-system.org/​doc/​package/​cram_designators]]. Here you can understand further what the '​desig:​an'​ does and why we use it. Designators are a very useful thing in cram, furthermore they are used in every high-level plan
  
 {{:​tutorials:​demo:​diagonal_grasp.png?​600|}} {{:​tutorials:​demo:​diagonal_grasp.png?​600|}}