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--- tutorials:intermediate:new_actions [2018/12/30 15:42] – [Pick-action-designator] vanessa
+++ tutorials:intermediate:new_actions [2019/01/02 17:46] (current) – [Pick-action-designator] 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 ======
-TODO: Write when the new manipulation interface is done.
+Now it is necessary to define a action designator of the new type for pick-up e.g.
+<code lisp>
+;;cram/cram_common/cram_mobile_pick_place_plans/src/pick-place-designators.lisp
+(def-fact-group pick-and-place-plans (desig:action-grounding)
+  (<- (desig:action-grounding ?action-designator (pick-up ?current-object-desig ?arm
+                                                          ?gripper-opening ?effort ?grasp
+                                                          ?left-reach-poses ?right-reach-poses
+                                                          ?left-grasp-poses ?right-grasp-poses
+                                                          ?left-lift-poses ?right-lift-poses))
+</code>
+First extract all information from ?action-designator.
+<code lisp>
+    (spec:property ?action-designator (:type :picking-up))
+    (spec:property ?action-designator (:object ?object-designator))
+    (desig:current-designator ?object-designator ?current-object-desig)
+    (spec:property ?current-object-desig (:type ?object-type))
+    (spec:property ?current-object-desig (:name ?object-name))
+    (-> (spec:property ?action-designator (:arm ?arm))
+        (true)
+        (man-int:robot-free-hand ?_ ?arm))
+    (lisp-fun man-int:get-object-transform ?current-object-desig ?object-transform)
+    </code>
+Infer missing information like ?grasp type, gripping ?maximum-effort, manipulation poses. Then calculate the object facing, because 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.
+   <code lisp>
+    (lisp-fun man-int:calculate-object-faces ?object-transform (?facing-robot-face ?bottom-face))
+    (-> (man-int:object-rotationally-symmetric ?object-type)
+        (equal ?rotationally-symmetric t)
+        (equal ?rotationally-symmetric nil))
+    (-> (spec:property ?action-designator (:grasp ?grasp))
+        (true)
+        (and (lisp-fun man-int:get-object-type-grasps ?object-type ?arm ?object-transform ?grasps)
+             (member ?grasp ?grasps)))
+    (lisp-fun man-int:get-object-type-gripping-effort ?object-type ?effort)
+    (lisp-fun man-int:get-object-type-gripper-opening ?object-type ?gripper-opening)
+    (lisp-fun man-int:get-object-grasping-poses
+              ?object-name ?object-type :left ?grasp ?object-transform
+              ?left-poses)
+    (lisp-fun man-int:get-object-grasping-poses
+              ?object-name ?object-type :right ?grasp ?object-transform
+              ?right-poses)
+    (lisp-fun extract-pick-up-manipulation-poses ?arm ?left-poses ?right-poses
+              (?left-reach-poses ?right-reach-poses
+                                 ?left-grasp-poses ?right-grasp-poses
+                                 ?left-lift-poses ?right-lift-poses)))
+</code>
 ====== Get-trajectory ======
+<code lisp>
+;;cram_common/cram_manipulation_interfaces/src/trajectories.lis
+(defgeneric get-object-grasping-poses (object-name object-type arm grasp object-transform)
+  (:documentation "Returns a list of (pregrasp-pose 2nd-pregrasp-pose grasp-pose lift-pose)")
+  (:method (object-name object-type arm grasp object-transform)
+    (declare (type symbol object-name object-type arm grasp)
+             (type cl-transforms-stamped:transform-stamped object-transform))
+    (when (prolog `(object-rotationally-symmetric ,object-type))
+      (setf object-transform
+            (cram-tf:copy-transform-stamped
+             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
+               (:left cram-tf:*robot-left-tool-frame*)
+               (:right cram-tf:*robot-right-tool-frame*)))
+           (object-to-standard-gripper-transform ; oTg'
+             (get-object-type-to-gripper-transform object-type object-name arm grasp))
+           (object-to-standard-gripper-pregrasp-transform ; oTg'
+             (get-object-type-to-gripper-pregrasp-transform
+              object-type object-name arm grasp
+              object-to-standard-gripper-transform))
+           (object-to-standard-gripper-2nd-pregrasp-transform ; oTg'
+             (get-object-type-to-gripper-2nd-pregrasp-transform
+              object-type object-name arm grasp
+              object-to-standard-gripper-transform))
+           (object-to-standard-gripper-lift-transform ; oTg'
+             (get-object-type-to-gripper-lift-transform
+              object-type object-name arm grasp
+              object-to-standard-gripper-transform))
+           (object-to-standard-gripper-2nd-lift-transform ; oTg'
+             (get-object-type-to-gripper-2nd-lift-transform
+              object-type object-name arm grasp
+              object-to-standard-gripper-transform))
+           (standard-to-particular-gripper-transform ; g'Tg
+             (cl-transforms-stamped:transform->transform-stamped
+              gripper-tool-frame
+              gripper-tool-frame
+.0
+              (cut:var-value
+               '?transform
+               (car (prolog:prolog
+                     `(and (cram-robot-interfaces:robot ?robot)
+                           (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)
+        (flet ((object-to-standard-gripper->base-to-particular-gripper (object-to-standard-gripper)
+                 (when object-to-standard-gripper
+                   (let ((base-to-standard-gripper-transform
+                           (cram-tf:multiply-transform-stampeds
+                            cram-tf:*robot-base-frame* gripper-tool-frame
+                            object-transform          ; bTo
+                            object-to-standard-gripper ; oTg'
+                            :result-as-pose-or-transform :transform))) ; bTo * oTg' = bTg'
+                     (cram-tf:multiply-transform-stampeds ; bTg' * g'Tg = bTg
+                      cram-tf:*robot-base-frame* gripper-tool-frame
+                      base-to-standard-gripper-transform      ; bTg'
+                      standard-to-particular-gripper-transform ; g'Tg
+                      :result-as-pose-or-transform :pose)))))
+          (mapcar #'object-to-standard-gripper->base-to-particular-gripper
+                  (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)))))))
+</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.