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tutorials:intermediate:simple_mobile_manipulation_plan [2022/04/13 11:45] – [Expanding Failure Management Capabilities] schimpf | tutorials:intermediate:simple_mobile_manipulation_plan [2022/04/25 09:20] (current) – schimpf | ||
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- | **//Tested with Cram v0.7.0, ROS version: | + | **//Tested with Cram v0.8.0, ROS version: |
====== Simple Mobile Manipulation Plan ====== | ====== Simple Mobile Manipulation Plan ====== | ||
Line 349: | Line 349: | ||
(btr: | (btr: | ||
</ | </ | ||
- | Now run '' | + | Now run '' |
<code lisp> | <code lisp> | ||
BTW-TUT> (move-bottle) | BTW-TUT> (move-bottle) | ||
- | [(PICK-PLACE PICK-UP) INFO] 1550502686.470: Opening gripper | + | |
- | [(PICK-PLACE PICK-UP) INFO] 1550502686.470: Reaching | + | [(PICK-PLACE PICK-UP) INFO] 1649925566.714: Looking |
- | [(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) WARN] 1550502686.797: #< | + | [(PICK-PLACE PICK-UP) INFO] 1649925566.758: Opening gripper and reaching |
+ | [(URDF-PROJ MOVE-TCP) ERROR] 1649925567.115: #< | ||
| | ||
- | #< | + | #< |
- | #< | + | #< |
+ | Failing. | ||
+ | [(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) WARN] 1649925567.119: | ||
+ | FRAME-ID: " | ||
+ | #< | ||
+ | #< | ||
Ignoring. | Ignoring. | ||
- | [(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) ERROR] | + | [(PERFORM MOTION) INFO] 1649925567.125: |
+ | #<A MOTION | ||
+ | (TYPE MOVING-TCP) | ||
+ | (RIGHT-POSE #< | ||
+ | | ||
+ | #< | ||
+ | #< | ||
+ | (COLLISION-MODE ALLOW-ALL) | ||
+ | (MOVE-BASE T)> | ||
+ | [(URDF-PROJ MOVE-TCP) ERROR] | ||
| | ||
- | #< | + | #< |
- | #< | + | #< |
Failing. | Failing. | ||
- | [(PP-PLANS | + | [(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) ERROR] 1649925567.484: #< |
| | ||
- | #< | + | #< |
- | #< | + | #< |
+ | Failing. | ||
+ | [(PP-PLANS PICK-UP) WARN] 1649925567.484: | ||
+ | FRAME-ID: " | ||
+ | #< | ||
+ | #< | ||
Ignoring. | Ignoring. | ||
- | ; Evaluation aborted on #< | + | [(PICK-PLACE PICK-UP) INFO] 1649925567.484: |
+ | [(PICK-PLACE PICK-UP) INFO] 1649925567.845: | ||
+ | [(PICK-AND-PLACE GRIP) WARN] 1649925567.875: | ||
+ | Retrying | ||
+ | [(PICK-AND-PLACE GRIP) WARN] 1649925567.888: | ||
+ | ; Evaluation aborted on #< | ||
</ | </ | ||
Line 510: | Line 536: | ||
BTW-TUT> (init-projection) | BTW-TUT> (init-projection) | ||
BTW-TUT> (move-bottle) | BTW-TUT> (move-bottle) | ||
- | [(PICK-PLACE PICK-UP) INFO] 1550504321.279: Opening gripper | + | [(PERFORM ACTION) INFO] 1649927731.920: Action goal `((ARMS-POSITIONED-AT NIL NIL))' already achieved. |
- | [(PICK-PLACE PICK-UP) INFO] 1550504321.279: Reaching | + | [(PICK-PLACE PICK-UP) INFO] 1649927732.109: Looking |
- | [(GRASP-FAILURE) WARN] Failed to grasp from LEFT-SIDE using RIGHT arm | + | [(PICK-PLACE PICK-UP) INFO] 1649927732.148: Opening gripper and reaching |
- | [(TRYING-NEW-GRASP) INFO] 1550504800.749: Trying to grasp from RIGHT-SIDE using RIGHT arm | + | [(PICK-PLACE PICK-UP) INFO] 1649927732.789: Grasping |
- | [(PICK-PLACE PICK-UP) INFO] 1550504800.789: Opening gripper | + | [(PICK-PLACE PICK-UP) INFO] 1649927733.055: Gripping |
- | [(PICK-PLACE PICK-UP) INFO] 1550504800.789: Reaching | + | [(PICK-PLACE GRIP) INFO] 1649927733.089: Assert |
- | [(GRASP-FAILURE) WARN] Failed to grasp from RIGHT-SIDE using RIGHT arm | + | [(PICK-PLACE PICK-UP) INFO] 1649927733.097: Lifting |
- | [(TRYING-NEW-GRASP) INFO] 1550504801.577: Trying to grasp from BACK using RIGHT arm | + | [(PICK-PLACE |
- | [(PICK-PLACE PICK-UP) INFO] 1550504801.601: Opening gripper | + | [(PERFORM ACTION) INFO] 1649927733.834: Action goal `((ARMS-POSITIONED-AT NIL NIL))' already achieved. |
- | [(PICK-PLACE | + | [(PICK-PLACE |
- | [(PICK-PLACE PICK-UP) INFO] 1550504801.939: Gripping | + | [(PICK-PLACE PLACE) INFO] 1649927734.003: Reaching |
- | [(PICK-PLACE PICK-UP) INFO] 1550504801.973: Assert grasp into knowledge base | + | [(PICK-PLACE PLACE) INFO] 1649927734.430: Putting |
- | [(PICK-PLACE | + | [(PICK-PLACE PLACE) INFO] 1649927734.677: Opening gripper |
- | [(PICK-PLACE PLACE) INFO] 1550504802.356: Reaching | + | [(PICK-PLACE PLACE) INFO] 1649927734.718: Retract grasp in knowledge base |
- | [(PICK-PLACE PLACE) INFO] 1550504802.508: Putting | + | [(PICK-PLACE PLACE) INFO] 1649927734.807: Updating object location in knowledge base |
- | [(PICK-PLACE PLACE) INFO] 1550504802.619: Opening gripper | + | [(PICK-PLACE PLACE) INFO] 1649927734.807: Retracting |
- | [(PICK-PLACE PLACE) INFO] 1550504802.655: Retract grasp in knowledge base | + | [(PICK-PLACE PLACE) INFO] 1649927735.214: |
- | [(PICK-PLACE PLACE) INFO] 1550504802.660: Retracting | + | [(PERFORM ACTION) INFO] 1649927735.398: |
</ | </ | ||
{{: | {{: |