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tutorials:demo:fetch_and_place_solutions [2019/09/04 19:38] – [Exercise 3] gkazhoya | tutorials:demo:fetch_and_place_solutions [2019/09/04 19:39] – [Exercise 1] gkazhoya | ||
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(print " | (print " | ||
(cpl:fail ' | (cpl:fail ' | ||
+ | | ||
+ | |||
+ | (defun move-bottle (bottle-spawn-pose) | ||
+ | (spawn-object bottle-spawn-pose) | ||
+ | (with-simulated-robot | ||
+ | (let ((? | ||
+ | (cpl:par | ||
+ | ;; Moving the robot near the table. | ||
+ | (perform (an action | ||
+ | (type going) | ||
+ | | ||
+ | (pose ? | ||
+ | (perform (a motion | ||
+ | (type moving-torso) | ||
+ | (joint-angle 0.3))) | ||
+ | (park-arms))) | ||
+ | (let* ((? | ||
+ | | ||
+ | | ||
+ | ;; Moving the robot near the counter. | ||
+ | (let ((?nav-goal *base-pose-near-counter*)) | ||
+ | (perform (an action | ||
+ | (type going) | ||
+ | | ||
+ | (pose ? | ||
+ | ;; Setting the object down on the counter | ||
+ | (let ((? | ||
+ | (perform (an action | ||
+ | (type placing) | ||
+ | (arm ? | ||
+ | | ||
+ | | ||
+ | (pose ? | ||
+ | (park-arm ? | ||
</ | </ | ||