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tutorials:intermediate:new_actions [2019/01/02 16:39] – [Write a Demo] vanessa | tutorials:intermediate:new_actions [2019/01/02 17:44] – [Pick-action-designator] 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 ====== | ||
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</ | </ | ||
+ | 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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? | ? | ||
? | ? | ||
- | | + | |
+ | First extract | ||
+ | <code lisp> | ||
(spec: | (spec: | ||
(spec: | (spec: | ||
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(man-int: | (man-int: | ||
(lisp-fun man-int: | (lisp-fun man-int: | ||
- | | + | |
+ | </ | ||
+ | | ||
+ | <code lisp> | ||
+ | |||
(lisp-fun man-int: | (lisp-fun man-int: | ||
(-> (man-int: | (-> (man-int: | ||
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- | First all of the information from the ? | + | |
+ | <code lisp> | ||
(-> (man-int: | (-> (man-int: | ||
(equal ? | (equal ? | ||
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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 ====== | ||