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| tutorials:intermediate:bullet_world [2019/07/08 17:17] – [Moving the robot in the Bullet world] gkazhoya | tutorials:intermediate:bullet_world [2019/07/08 17:22] – [Moving the robot in the Bullet world] gkazhoya |
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| To execute any plan in CRAM, we need a top-level context. Besides that we also use a macro to specify that the demo should be executed in simulation, not on the real robot. Putting your plan under ''pr2-proj:with-simulated-robot'' will indicate that your robot is in the projection environment and it also has a top level call within it. The ''with-simulated-robot'' is a way to abstract out the robot details from your plans and its counterpart to execute on a real robot would be ''pr2-pms:with-real-robot''. Also note that without mentioning the robot that you want to execute on, the TF for it is not published and you'll run into errors. | To execute any plan in CRAM, we need a top-level context. Besides that we also use a macro to specify that the demo should be executed in simulation, not on the real robot. Putting your plan under ''pr2-proj:with-simulated-robot'' will indicate that your robot is in the projection environment and it also has a top level call within it. The ''with-simulated-robot'' is a way to abstract out the robot details from your plans and its counterpart to execute on a real robot would be ''pr2-pms:with-real-robot''. Also note that without mentioning the robot that you want to execute on, the TF for it is not published and you'll run into errors. |
| | We can execute some movements in parallel, if they use different joints of the robot. That's what ''cpl:par'' is for. |
| | We have used a simple call to low level methods to achieve motions like move to the ''?grasp-base-pose'' and look at ''?grasp-look-pose''. These can be achieved by corresponding motion designators, which we will look at in later tutorials. |
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| 0.05106258161229582d0)) | 0.05106258161229582d0)) |
| (pr2-proj::drive ?grasp-base-pose) | (pr2-proj::drive ?grasp-base-pose) |
| (pr2-proj::look-at-pose-stamped ?grasp-look-pose)) | (pr2-proj::look-at :pose ?grasp-look-pose)) |
| </code> | </code> |
| As some of the functions in ''cram-pr2-projection'' package need a running TF listener object, so wrapped our calls in ''pr2-proj:with-simulated-robot''. | As some of the functions in ''cram-pr2-projection'' package need a running TF listener object, we wrapped our calls in ''pr2-proj:with-simulated-robot''. |
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| We can execute some movements in parallel, if they use different joints of the robot. That's what ''cpl:par'' is for. The function ''park-arms'' performs a motion on the joints of both arms, which brings them into a specific position, so they don't hang around the field of view. We have used a simple call to low level methods to achieve motions like move to the ''?grasp-base-pose'' and look at ''?grasp-look-pose''. These can be achieved by corresponding motion designators, which we will look at in later tutorials. | The function ''pr2-proj::move-joints'' moves the joints of both arms, which brings them into a specific position, specified in the arguments, so they don't hang around the field of view. ''pr2-proj::drive'' moves the robot, by internally calling |
| | <code lisp> |
| | (prolog:prolog '(btr:assert ?world (btr:object-pose ?robot ?target-pose))) |
| | </code> |
| | ''pr2-proj::look-at'' calculates the pan and tilt angles of the robot's neck such that it ends up looking at the specified point, and asserts these angles to the neck joints. |
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| To grasp the bottle we need to have its pose in the room. Therefore, we first perceive it and store the result in ''*perceived-object*'': | Now, let us finally perceive the object and store the result in the ''*perceived-object*'' variable: |
| <code lisp> | <code lisp> |
| BTW-TUT> | BTW-TUT> |
