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tutorials:intermediate:new_actions [2019/01/02 16:31] – [Get-trajectory] vanessatutorials:intermediate:new_actions [2019/01/02 17:46] (current) – [Pick-action-designator] vanessa
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 When implementing new type of actions, such as placing, pouring or cutting there are 4 important steps to do. When implementing new type of actions, such as placing, pouring or cutting there are 4 important steps to do.
-In the following Tutorial it is assumed that the basic knowledge about [[http://cram-system.org/doc/package/cram_designators|cram-designator]], [[http://cram-system.org/tutorials/beginner/high_level_plans|high_level_plans]] and [[http://cram-system.org/tutorials/beginner/cram_prolog|cram_prolog_reasoning.]]+In the following Tutorial it is assumed that the basic knowledge about [[http://cram-system.org/doc/package/cram_designators|cram-designator]], [[http://cram-system.org/tutorials/beginner/high_level_plans|high_level_plans]] and [[http://cram-system.org/tutorials/beginner/cram_prolog|cram_prolog_reasoning.]] are given.
 ====== Atomic-action-designator ====== ====== Atomic-action-designator ======
  
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  </code>  </code>
  
 +Here also failure-handling takes place. At least all low-level-failures should be caught here.
  
 ====== Pick-action-designator ====== ====== Pick-action-designator ======
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                                                           ?left-grasp-poses ?right-grasp-poses                                                           ?left-grasp-poses ?right-grasp-poses
                                                           ?left-lift-poses ?right-lift-poses))                                                           ?left-lift-poses ?right-lift-poses))
-    ;; extract info from ?action-designator+</code> 
 + 
 +First extract all information from ?action-designator
 +     
 +<code lisp>
     (spec:property ?action-designator (:type :picking-up))     (spec:property ?action-designator (:type :picking-up))
     (spec:property ?action-designator (:object ?object-designator))     (spec:property ?action-designator (:object ?object-designator))
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         (man-int:robot-free-hand ?_ ?arm))         (man-int:robot-free-hand ?_ ?arm))
     (lisp-fun man-int:get-object-transform ?current-object-desig ?object-transform)     (lisp-fun man-int:get-object-transform ?current-object-desig ?object-transform)
-    ;; infer missing information like ?grasp type, gripping ?maximum-effort, manipulation poses+     
 +    </code> 
 +     
 +Infer missing information like ?grasp type, gripping ?maximum-effort, manipulation poses. Then calculate the object facing, because the system needs to know how the object, that will be picked up, is facing so that the rotation is correctly and the transformation from gripper to object will be properly. 
 +  
 +   <code lisp> 
 + 
     (lisp-fun man-int:calculate-object-faces ?object-transform (?facing-robot-face ?bottom-face))     (lisp-fun man-int:calculate-object-faces ?object-transform (?facing-robot-face ?bottom-face))
     (-> (man-int:object-rotationally-symmetric ?object-type)     (-> (man-int:object-rotationally-symmetric ?object-type)
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-First all of the information from the ?action-designator will be extract. After that  all information that are missing from the ?action-designator will be inferred. <code lisp>     (lisp-fun man-int:calculate-object-faces ?object-transform (?facing-robot-face ?bottom-face)) +    
-    (-> (man-int:object-rotationally-symmetric ?object-type) +
-        (equal ?rotationally-symmetric t) +
-        (equal ?rotationally-symmetric nil)) +
-    (-> (spec:property ?action-designator (:grasp ?grasp)) +
-        (true) +
-        (and (lisp-fun man-int:get-object-type-grasps ?object-type ?arm ?object-transform ?grasps) +
-             (member ?grasp ?grasps))) </code>    +
-              +
-The system needs to know how the object, that will be picked up, is facing so that the rotation is correctly and the transformation from gripper to object will be properly.+
 ====== Get-trajectory ====== ====== Get-trajectory ======
  
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 The last step is to calculate the base-to-standard-gripper-transform so that a transformation from object-to-standard-gripper to base-to-particular-gripper can be done.  The last step is to calculate the base-to-standard-gripper-transform so that a transformation from object-to-standard-gripper to base-to-particular-gripper can be done. 
 ====== Write a Demo====== ====== Write a Demo======
 +
 +Depending on what the scenario will be a different demo has to take place. In cram/cram_pr2/cram_pr2_pick_place_demo/ the Demo for pick and place is given. 
 +
 +All that is needed:
 +
 +  * Launch file with all important nodes.
 +  * Resources includes all .stl and .dae files from the spawned object in the scenario.
 +  * Then a costmap needs to be defined.
 +  * In projection-demo.lisp all the function that will be called in the demo are implemented e.g. place-object        spawn-objects-on-sink-counter
 +  * In demo.lisp the demo is written and trainings-data.