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tutorials:intermediate:new_actions [2019/01/02 16:31] – [Get-trajectory] vanessatutorials: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://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 ====== ====== Atomic-action-designator ======
  
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  </code>  </code>
  
 +Here also failure-handling takes place. At least all low-level-failures should be caught here.
  
 ====== Pick-action-designator ====== ====== Pick-action-designator ======
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 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.  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/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.