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--- tutorials:intermediate:new_actions [2019/01/02 16:20] – [Get-trajectory] vanessa
+++ tutorials:intermediate:new_actions [2019/01/02 17:20] – [Pick-action-plan] vanessa
@@ Line 2: / Line 2: @@
 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://cram-system.org/doc/package/cram_designators|cram-designator]], [[http://cram-system.org/tutorials/beginner/high_level_plans|high_level_plans]] and [[http://cram-system.org/tutorials/beginner/cram_prolog|cram_prolog_reasoning.]]
+In the following Tutorial it is assumed that the basic knowledge about [[http://cram-system.org/doc/package/cram_designators|cram-designator]], [[http://cram-system.org/tutorials/beginner/high_level_plans|high_level_plans]] and [[http://cram-system.org/tutorials/beginner/cram_prolog|cram_prolog_reasoning.]] are given.
 ====== Atomic-action-designator ======
@@ Line 162: / Line 162: @@
  </code>
+Here also failure-handling takes place. At least all low-level-failures should be caught here.
 ====== Pick-action-designator ======
@@ Line 235: / Line 235: @@
              (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))
       (setf object-transform
@@ Line 242: / Line 240: @@
              object-transform
              :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
              (ecase arm
@@ Line 276: / Line 277: @@
                            (cram-robot-interfaces:standard-to-particular-gripper-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)
@@ Line 302: / Line 313: @@
 </code>
+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======
+Depending on what the scenario will be a different demo has to take place. In cram/cram_pr2/cram_pr2_pick_place_demo/ the Demo for pick and place is given.
+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        spawn-objects-on-sink-counter
+  * In demo.lisp the demo is written and trainings-data.