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tutorials:advanced:bullet_world [2017/09/20 10:55] – [REPL setup] gkazhoyatutorials:advanced:bullet_world [2017/09/22 09:40] – [Abstract entity descriptions] gkazhoya
Line 70: Line 70:
 ====REPL setup==== ====REPL setup====
  
-Now, let's load the package in the REPL (start the REPL with ''$ roslisp_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)
Line 296: Line 296:
                 (?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))
Line 315: Line 316:
        (?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))