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tutorials:intermediate:new_actions [2019/01/02 16:07] – [Pick-action-designator] vanessa | tutorials:intermediate:new_actions [2019/01/02 16:17] – [Pick-action-designator] vanessa | ||
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====== Pick-action-designator ====== | ====== Pick-action-designator ====== | ||
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Now it is necessary to define a action designator of the new type for pick-up e.g. | Now it is necessary to define a action designator of the new type for pick-up e.g. | ||
<code lisp> | <code lisp> | ||
+ | ;; | ||
(def-fact-group pick-and-place-plans (desig: | (def-fact-group pick-and-place-plans (desig: | ||
(<- (desig: | (<- (desig: | ||
Line 209: | Line 212: | ||
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</ | </ | ||
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+ | First all of the information from the ? | ||
+ | (-> (man-int: | ||
+ | (equal ? | ||
+ | (equal ? | ||
+ | (-> (spec: | ||
+ | (true) | ||
+ | (and (lisp-fun man-int: | ||
+ | | ||
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+ | The system needs to know how the object, that will be picked up, is facing so that the rotation is correctly and the transformation from gripper to object will be properly. | ||
====== Get-trajectory ====== | ====== Get-trajectory ====== | ||
====== Write a Demo====== | ====== Write a Demo====== |