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tutorials:intermediate:bullet_world [2022/04/13 07:13] – [Geometric reasoning] schimpftutorials: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: Kinetic, Ubuntu 16.04//**+**//Tested with Cram v0.8.0, ROS version: Noetic, Ubuntu 20.04//**
  
 ====== Bullet world demonstration ====== ====== Bullet world demonstration ======
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 <code lisp> <code lisp>
 BTW-TUT> (prolog:prolog '(and (btr:bullet-world ?world) BTW-TUT> (prolog:prolog '(and (btr:bullet-world ?world)
-                              (assert (btr:object-pose ?world :pr2 +                              (rob-int:robot ?robot) 
-                                                       ((0.5 1 0) (0 0 1 0))))))+                              (btr:visible ?world ?robot mug-1)))
 NIL NIL
 </code> </code>
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 <code lisp> <code lisp>
 BTW-TUT> (prolog:prolog '(and (btr:bullet-world ?world) BTW-TUT> (prolog:prolog '(and (btr:bullet-world ?world)
-                              (assert (btr:object-pose ?world cram-pr2-description :pr2+                              (assert (btr:object-pose ?world cram-pr2-description:pr2
                                                        ((0.5 1 0) (0 0 1 0))))))                                                        ((0.5 1 0) (0 0 1 0))))))
 </code> </code>
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 BTW-TUT> BTW-TUT>
 (def-fact-group costmap-metadata () (def-fact-group costmap-metadata ()
-    (<- (:costmap-size 12 12)) +    (<- (costmap-size 12 12)) 
-    (<- (:costmap-origin -6 -6)) +    (<- (costmap-origin -6 -6)) 
-    (<- (:costmap-resolution 0.04))+    (<- (costmap-resolution 0.04))
    
-    (<- (:costmap-padding 0.3)) +    (<- (costmap-padding 0.3)) 
-    (<- (:costmap-manipulation-padding 0.4)) +    (<- (costmap-manipulation-padding 0.4)) 
-    (<- (:costmap-in-reach-distance 0.7)) +    (<- (costmap-in-reach-distance 0.7)) 
-    (<- (:costmap-reach-minimal-distance 0.2)) +    (<- (costmap-reach-minimal-distance 0.2)) 
-    (<- (:visibility-costmap-size 2)) +    (<- (visibility-costmap-size 2)) 
-    (<- (:orientation-samples 2)) +    (<- (orientation-samples 2)) 
-    (<- (:orientation-sample-step 0.1)))+    (<- (orientation-sample-step 0.1)))
 </code> </code>
 Now, we create an abstract location description that we call a //designator//. The abstract description gets grounded into specific geometric coordinates with the ''reference'' function.  Now, we create an abstract location description that we call a //designator//. The abstract description gets grounded into specific geometric coordinates with the ''reference'' function. 
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 and the following does: and the following does:
 <code lisp> <code lisp>
-BTW-TUT> (pr2-proj:with-simulated-robot+BTW-TUT> (urdf-proj:with-simulated-robot
            (cl-tf:lookup-transform cram-tf:*transformer* "map" "l_gripper_tool_frame"))            (cl-tf:lookup-transform cram-tf:*transformer* "map" "l_gripper_tool_frame"))
 </code> </code>