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tutorials:advanced:bullet_world [2017/09/18 17:43] – [Construct plans] gkazhoyatutorials:advanced:bullet_world [2017/09/22 09:40] – [Abstract entity descriptions] gkazhoya
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-//Tested with Cram branch: Cram4, ROS version: Indigo, Ubuntu 14.04//+**//Tested with Cram v0.4.0, ROS version: Kinetic, Ubuntu 16.04//**
  
 ====== Bullet world demonstration ====== ====== Bullet world demonstration ======
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 ====REPL setup==== ====REPL setup====
  
-Now, let's load the package in the REPL:+Now, let's load the package in the REPL (start the REPL with ''$ roslisp_repl''):
 <code lisp> <code lisp>
 CL-USER> (ros-load:load-system "cram_bullet_world_tutorial" :cram-bullet-world-tutorial) CL-USER> (ros-load:load-system "cram_bullet_world_tutorial" :cram-bullet-world-tutorial)
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 (btr:set-robot-state-from-joints (btr:set-robot-state-from-joints
  '(("iai_fridge_door_joint"  0.3d0))  '(("iai_fridge_door_joint"  0.3d0))
- (btr:object btr:*current-bullet-world* 'my-kitchen))+ (btr:object btr:*current-bullet-world* :kitchen))
 </code> </code>
  
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 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 ))))))+                                                       ((0.5 1 0) (0 0 1 0))))))
 </code> </code>
 and ask the visibility query again: instead of typing, put the cursor where you would type and press ''Ctrl-Up''. This will find previously executed commands. and ask the visibility query again: instead of typing, put the cursor where you would type and press ''Ctrl-Up''. This will find previously executed commands.
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                 (?mug-pose-stamped (cl-transforms-stamped:pose->pose-stamped "map" 0 mug-pose))                 (?mug-pose-stamped (cl-transforms-stamped:pose->pose-stamped "map" 0 mug-pose))
                 (?mug-location-designator (desig:a location (pose ?mug-pose-stamped)))                 (?mug-location-designator (desig:a location (pose ?mug-pose-stamped)))
-                (to-see-designator (desig:a location (to see)+                (to-see-designator (desig:a location (type visible) 
 +                                                     (for pr2)
                                                      (location ?mug-location-designator))))                                                      (location ?mug-location-designator))))
              (desig:reference to-see-designator))              (desig:reference to-see-designator))
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        (?the-object (desig:an object (type mug)        (?the-object (desig:an object (type mug)
                                      (at ?on-counter)))                                      (at ?on-counter)))
-       (location-to-see (desig:a location (to see)+       (location-to-see (desig:a location (type visible) 
 +                                          (for pr2)
                                           (object ?the-object))))                                           (object ?the-object))))
     (desig:reference location-to-see))     (desig:reference location-to-see))
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 <code lisp> <code lisp>
 BTW-TUT>     BTW-TUT>    
 +(defparameter *pose-bottle-1*
 +  (cl-transforms-stamped:make-pose-stamped 
 +   "map" 0.0 
 +   (cl-transforms:make-3d-vector -2 -0.9d0 0.86d0)
 +   (cl-transforms:make-identity-rotation)))
 + 
 +(defparameter *pose-bottle-2*
 +  (cl-transforms-stamped:make-pose-stamped 
 +   "map" 0.0 
 +   (cl-transforms:make-3d-vector -0.8 2 0.9)
 +   (cl-transforms:make-identity-rotation)))
 +
 (defparameter *pose-meal-table* (defparameter *pose-meal-table*
   (cl-tf:make-pose-stamped   (cl-tf:make-pose-stamped
    "map" 0.0    "map" 0.0
-   (cl-tf:make-3d-vector -0.15 1.8 0)+   (cl-tf:make-3d-vector -0.15 2.0 0)
    (cl-tf:make-quaternion 0.0d0 0.0d0 -1.0d0 0.0d0)))    (cl-tf:make-quaternion 0.0d0 0.0d0 -1.0d0 0.0d0)))
  
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   (cl-transforms-stamped:make-pose-stamped   (cl-transforms-stamped:make-pose-stamped
    "map" 0.0    "map" 0.0
-   (cl-transforms:make-3d-vector -2.1547d0 -0.381d0 0.0d0)+   (cl-transforms:make-3d-vector -1.8547d0 -0.381d0 0.0d0)
    (cl-transforms:axis-angle->quaternion (cl-transforms:make-3d-vector 0 0 1) (/ pi -2))))    (cl-transforms:axis-angle->quaternion (cl-transforms:make-3d-vector 0 0 1) (/ pi -2))))
 </code> </code>