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tutorials:intermediate:new_actions [2019/01/02 17:09] – [Implementing new types of actions] vanessa | tutorials:intermediate:new_actions [2019/01/02 17:46] (current) – [Pick-action-designator] vanessa | ||
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</ | </ | ||
+ | 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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? | ? | ||
? | ? | ||
- | ;; extract | + | </ |
+ | |||
+ | First extract | ||
+ | |||
+ | <code lisp> | ||
(spec: | (spec: | ||
(spec: | (spec: | ||
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(man-int: | (man-int: | ||
(lisp-fun man-int: | (lisp-fun man-int: | ||
- | | + | |
+ | </ | ||
+ | |||
+ | Infer missing information like ?grasp type, gripping ? | ||
+ | |||
+ | < | ||
+ | |||
(lisp-fun man-int: | (lisp-fun man-int: | ||
(-> (man-int: | (-> (man-int: | ||
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- | First all of the information from the ? | + | |
- | (-> (man-int: | + | |
- | (equal ? | + | |
- | (equal ? | + | |
- | (-> (spec: | + | |
- | (true) | + | |
- | (and (lisp-fun man-int: | + | |
- | | + | |
- | + | ||
- | 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 ====== | ||