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tutorials:intermediate:new_actions [2019/01/02 16:20] – [Get-trajectory] vanessatutorials:intermediate:new_actions [2019/01/02 16:26] – [Get-trajectory] vanessa
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              (type cl-transforms-stamped:transform-stamped object-transform))              (type cl-transforms-stamped:transform-stamped object-transform))
  
-    ;; First correct the object transform such that rotationally-symmetric objects 
-    ;; would not be grasped in an awkward way with weird orientations 
     (when (prolog `(object-rotationally-symmetric ,object-type))     (when (prolog `(object-rotationally-symmetric ,object-type))
       (setf object-transform       (setf object-transform
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              object-transform              object-transform
              :rotation (cl-transforms:make-identity-rotation))))              :rotation (cl-transforms:make-identity-rotation))))
 +</code>
 +First correct the object transform such that rotationally-symmetric objects would not be grasped in an awkward way with weird orientations. 
  
 +<code lisp>
     (let* ((gripper-tool-frame     (let* ((gripper-tool-frame
              (ecase arm              (ecase arm
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                            (cram-robot-interfaces:standard-to-particular-gripper-transform                            (cram-robot-interfaces:standard-to-particular-gripper-transform
                             ?robot ?transform))))))))                             ?robot ?transform))))))))
 +                            
 + </code>
 +Next step is to transform all the poses for the action.
 +  * standard gripper transform oTg 
 +  * standard gripper pregrasp transform oTg
 +  * standard gripper second pregrasp transform oTg
 +  * standard gripper lift transform oTg
 +  * standard gripper second lift transform oTg 
 +  * particular gripper transform gTg
 +<code lisp>                           
       (when (and object-to-standard-gripper-transform standard-to-particular-gripper-transform)       (when (and object-to-standard-gripper-transform standard-to-particular-gripper-transform)