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tutorials:advanced:unreal [2020/01/13 08:23] – [Prerequisites] adapted the launching procedure to the new launch files. hawkin | tutorials:advanced:unreal [2020/01/13 09:47] – [Usage and Code] added short file descriptions, updated launch procedure hawkin | ||
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To launch all the necessary components, simply execute: | To launch all the necessary components, simply execute: | ||
<code lisp> | <code lisp> | ||
- | CL-USER> (kvr:: | + | CL-USER> (kvr:: |
</ | </ | ||
- | This will create a lisp ros node, clean up the belief-state, | + | This will create a lisp ros node, clean up the belief-state, |
Now, let's execute the pick and place plan: | Now, let's execute the pick and place plan: | ||
Line 53: | Line 53: | ||
== mapping-urdf-semantic.lisp == | == mapping-urdf-semantic.lisp == | ||
- | Mapps the urdf kitchen to the semantic map, since they differ in how some furniture is organized and called. | + | Mapps the urdf kitchen |
== init.lisp == | == init.lisp == | ||
- | TODO | + | Contains all the needed initialization functions for the simulation environment, |
== queries.lisp == | == queries.lisp == | ||
- | TODO | + | Contains some query wrappers so that they can be called as lisp functions, and also includes the queries which read out the data from the database e.g. the poses of the object, hand and head of the actor in the virtual reality. |
== query-based-calculations.lisp == | == query-based-calculations.lisp == | ||
- | TODO | + | Includes all transformation calculations to make the poses of the robot relative to the respective object, and the poses of the objects relative to the surfaces. Mostly works on lazy-lists of poses. |
== designator-integration.lisp == | == designator-integration.lisp == | ||
- | TODO | + | Integrates the pose calculations from the query-based-calculations into location designators. |
== fetch-and-deliver-based-demo.lisp == | == fetch-and-deliver-based-demo.lisp == | ||
- | TODO | + | Sets up the plan for the demo with the respective action designator. Also includes logging functions. |
+ | |||
+ | == debugging-utils.lisp == | ||
+ | Contains a lot of debugging and helper functions which can also visualize all the calculated poses. | ||
==== Importing new episode data into MongoDB and KnowRob(Additional information) ==== | ==== Importing new episode data into MongoDB and KnowRob(Additional information) ==== | ||
In order for us to be able to query data for information, | In order for us to be able to query data for information, |