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tutorials:demo:fetch_and_place [2020/02/06 15:00] – feedback Alina hawkin | tutorials:demo:fetch_and_place [2020/09/22 23:26] – [Simple Plan] gkazhoya | ||
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+ | ===== Motivation ===== | ||
+ | The aim of the tutorial is to give an intuition about the complexity of robot mobile manipulation tasks and about the knowledge that is required to execute actions successfully. | ||
+ | The tutorial: | ||
+ | - Gives an intuition of what knowledge does the robot need (and how much knowledge) to execute even a simple fetch and place, e.g., robot needs to answer questions such as "where should I stand?", | ||
+ | - Shows how many different things can go wrong, and teaches writing simple failure handling strategies. | ||
+ | - Teaches how to call existing actions from the CRAM framework, i.e. how to use designators (but not program new ones). | ||
+ | | ||
===== Setting Up ===== | ===== Setting Up ===== | ||
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(defparameter *base-pose-near-counter* | (defparameter *base-pose-near-counter* | ||
- | (make-pose "base_footprint" ' | + | (make-pose "map" ' |
</ | </ | ||
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(defparameter *base-pose-near-counter* | (defparameter *base-pose-near-counter* | ||
- | (make-pose "base_footprint" ' | + | (make-pose "map" ' |
(defparameter *final-object-destination* | (defparameter *final-object-destination* | ||
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| | ||
</ | </ | ||
- | You will see that PR2 will successfully grasp the bottle from the grasp pose that we defined. | + | You will see that PR2 will successfully grasp the bottle from the grasp pose that we defined. Another useful documentation on this point is [[http:// |
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