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tutorials:intermediate:new_actions [2018/12/30 15:36] – [Pick-action-plan] vanessa | tutorials:intermediate:new_actions [2019/01/02 17:20] – [Pick-action-plan] vanessa | ||
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When implementing new type of actions, such as placing, pouring or cutting there are 4 important steps to do. | When implementing new type of actions, such as placing, pouring or cutting there are 4 important steps to do. | ||
- | In the following Tutorial it is assumed that the basic knowledge about [[http:// | + | In the following Tutorial it is assumed that the basic knowledge about [[http:// |
====== Atomic-action-designator ====== | ====== Atomic-action-designator ====== | ||
Line 41: | Line 41: | ||
</ | </ | ||
- | Here are all the specs for a designator described. First the designator for :going needs a ? | + | Here are all the specs for a designator described. |
+ | First the designator for :going needs a ? | ||
The second designator :grapsing needs more variable like move-arm-in-sequence, | The second designator :grapsing needs more variable like move-arm-in-sequence, | ||
It is important to know the link of the object such that the coordinate frames in the world can be translated from gripper to object so that the robot can pick the object. | It is important to know the link of the object such that the coordinate frames in the world can be translated from gripper to object so that the robot can pick the object. | ||
+ | |||
This designator can now either be used for :grapsing or :pulling. | This designator can now either be used for :grapsing or :pulling. | ||
+ | |||
+ | ---- | ||
Line 68: | Line 72: | ||
What is required for picking up: | What is required for picking up: | ||
- | First the gripper needs to be open to grab an object, second | + | |
- | Third the object needs to be hold in the gripper (grasping and gripping). | + | * First the gripper needs to be open to grab an object. |
- | The last thing to do is to lift the object with the gripper. For every single action here a action-designator needs to be called e.g. | + | * Second |
+ | | ||
+ | | ||
<code lisp> | <code lisp> | ||
Line 156: | Line 162: | ||
</ | </ | ||
+ | Here also failure-handling takes place. At least all low-level-failures should be caught here. | ||
====== Pick-action-designator ====== | ====== Pick-action-designator ====== | ||
+ | |||
+ | Now it is necessary to define a action designator of the new type for pick-up e.g. | ||
+ | |||
+ | <code lisp> | ||
+ | ;; | ||
+ | (def-fact-group pick-and-place-plans (desig: | ||
+ | (<- (desig: | ||
+ | ? | ||
+ | ? | ||
+ | ? | ||
+ | ? | ||
+ | ;; extract info from ? | ||
+ | (spec: | ||
+ | (spec: | ||
+ | (desig: | ||
+ | (spec: | ||
+ | (spec: | ||
+ | (-> (spec: | ||
+ | (true) | ||
+ | (man-int: | ||
+ | (lisp-fun man-int: | ||
+ | ;; infer missing information like ?grasp type, gripping ? | ||
+ | (lisp-fun man-int: | ||
+ | (-> (man-int: | ||
+ | (equal ? | ||
+ | (equal ? | ||
+ | (-> (spec: | ||
+ | (true) | ||
+ | (and (lisp-fun man-int: | ||
+ | | ||
+ | (lisp-fun man-int: | ||
+ | (lisp-fun man-int: | ||
+ | (lisp-fun man-int: | ||
+ | ? | ||
+ | ? | ||
+ | (lisp-fun man-int: | ||
+ | ? | ||
+ | ? | ||
+ | (lisp-fun extract-pick-up-manipulation-poses ?arm ?left-poses ? | ||
+ | (? | ||
+ | ? | ||
+ | ? | ||
+ | |||
+ | | ||
+ | </ | ||
+ | |||
+ | |||
+ | |||
+ | First all of the information from the ? | ||
+ | (-> (man-int: | ||
+ | (equal ? | ||
+ | (equal ? | ||
+ | (-> (spec: | ||
+ | (true) | ||
+ | (and (lisp-fun man-int: | ||
+ | | ||
+ | |||
+ | 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 ====== | ||
+ | <code lisp> | ||
+ | ;; | ||
+ | (defgeneric get-object-grasping-poses (object-name object-type arm grasp object-transform) | ||
+ | (: | ||
+ | (:method (object-name object-type arm grasp object-transform) | ||
+ | (declare (type symbol object-name object-type arm grasp) | ||
+ | (type cl-transforms-stamped: | ||
+ | (when (prolog `(object-rotationally-symmetric , | ||
+ | (setf object-transform | ||
+ | (cram-tf: | ||
+ | | ||
+ | : | ||
+ | </ | ||
+ | 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 | ||
+ | | ||
+ | | ||
+ | | ||
+ | | ||
+ | | ||
+ | | ||
+ | | ||
+ | object-type object-name arm grasp | ||
+ | object-to-standard-gripper-transform)) | ||
+ | | ||
+ | | ||
+ | object-type object-name arm grasp | ||
+ | object-to-standard-gripper-transform)) | ||
+ | | ||
+ | | ||
+ | object-type object-name arm grasp | ||
+ | object-to-standard-gripper-transform)) | ||
+ | | ||
+ | | ||
+ | object-type object-name arm grasp | ||
+ | object-to-standard-gripper-transform)) | ||
+ | | ||
+ | | ||
+ | gripper-tool-frame | ||
+ | gripper-tool-frame | ||
+ | 0.0 | ||
+ | (cut: | ||
+ | '? | ||
+ | (car (prolog: | ||
+ | `(and (cram-robot-interfaces: | ||
+ | | ||
+ | ?robot ? | ||
+ | | ||
+ | </ | ||
+ | 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) | ||
+ | |||
+ | (flet ((object-to-standard-gripper-> | ||
+ | (when object-to-standard-gripper | ||
+ | (let ((base-to-standard-gripper-transform | ||
+ | | ||
+ | cram-tf: | ||
+ | object-transform | ||
+ | object-to-standard-gripper ; oTg' | ||
+ | : | ||
+ | | ||
+ | cram-tf: | ||
+ | base-to-standard-gripper-transform | ||
+ | standard-to-particular-gripper-transform ; g'Tg | ||
+ | : | ||
+ | |||
+ | (mapcar #' | ||
+ | (list object-to-standard-gripper-pregrasp-transform | ||
+ | object-to-standard-gripper-2nd-pregrasp-transform | ||
+ | object-to-standard-gripper-transform | ||
+ | object-to-standard-gripper-lift-transform | ||
+ | object-to-standard-gripper-2nd-lift-transform))))))) | ||
+ | |||
+ | |||
+ | |||
+ | </ | ||
+ | |||
+ | The last step is to calculate the base-to-standard-gripper-transform so that a transformation from object-to-standard-gripper to base-to-particular-gripper can be done. | ||
====== Write a Demo====== | ====== Write a Demo====== | ||
+ | |||
+ | Depending on what the scenario will be a different demo has to take place. In cram/ | ||
+ | |||
+ | All that is needed: | ||
+ | |||
+ | * Launch file with all important nodes. | ||
+ | * Resources includes all .stl and .dae files from the spawned object in the scenario. | ||
+ | * Then a costmap needs to be defined. | ||
+ | * In projection-demo.lisp all the function that will be called in the demo are implemented e.g. place-object | ||
+ | * In demo.lisp the demo is written and trainings-data. |