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tutorials:demo:fetch_and_place [2020/06/10 09:51] – vanessatutorials:demo:fetch_and_place [2020/10/05 11:41] – [Zero prerequisites demo tutorial: Simple fetch and place] gkazhoya
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 This tutorial is from the "Demo Tutorials" category, which assumes no prior knowledge of Linux, ROS, Emacs, Lisp or robotics. This tutorial is from the "Demo Tutorials" category, which assumes no prior knowledge of Linux, ROS, Emacs, Lisp or robotics.
  
 +Here is a link to a video that walks through the first part of the tutorial with voice explanations:
  
 +https://seafile.zfn.uni-bremen.de/f/c057cd48e1244d7997b8/
 +===== 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?", "which grasp pose should I use?", etc.
 +  - 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" '((-0.150d0 2.0d0 0.0d0) (0.0d0 0.0d0 -1.0d0 0.0d0))))+  (make-pose "map" '((-0.150d0 2.0d0 0.0d0) (0.0d0 0.0d0 -1.0d0 0.0d0))))
 </code> </code>
  
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 (defparameter *base-pose-near-counter* (defparameter *base-pose-near-counter*
-  (make-pose "base_footprint" '((-0.15 2 0) (0 0 -1 0))))+  (make-pose "map" '((-0.15 2 0) (0 0 -1 0))))
    
 (defparameter *final-object-destination* (defparameter *final-object-destination*