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tutorials:intermediate:new_actions [2019/01/02 17:20] – [Pick-action-plan] vanessa | tutorials:intermediate:new_actions [2019/01/02 17:46] (current) – [Pick-action-designator] vanessa | ||
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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: | ||
Line 215: | Line 225: | ||
- | 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 ====== | ||