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tutorials:intermediate:simple_mobile_manipulation_plan [2019/07/08 18:08] – [Expanding Failure Management Capabilities] gkazhoyatutorials:intermediate:simple_mobile_manipulation_plan [2019/07/08 18:09] – [Expanding Failure Management Capabilities] gkazhoya
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 Since this is a simple tutorial in formulating and understanding mobile plans using CRAM, developing advanced plans and recovery behaviors is left up to you. Since this is a simple tutorial in formulating and understanding mobile plans using CRAM, developing advanced plans and recovery behaviors is left up to you.
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 +THIS IS ONLY IN CRAM v0.8.0
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 === Useful Macros === === Useful Macros ===
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 </code> </code>
 This code will behave exactly like before but all the repetitive logic has been moved to this macro. The first two arguments are always the iterating list (in this case, the list containing possible grasp pose) and the number of retries. The keyword ''error-object-or-string'' can accept a warning string or just the plain error object and it will be used for logging. ''warning-namespace'' will accept the name in which the logging information is classified into. Since our method rethrows ''common-fail:object-unreachable'' we pass that along into ''rethrow-failure'', and if none is passed, it will rethrow the same error it received. This code will behave exactly like before but all the repetitive logic has been moved to this macro. The first two arguments are always the iterating list (in this case, the list containing possible grasp pose) and the number of retries. The keyword ''error-object-or-string'' can accept a warning string or just the plain error object and it will be used for logging. ''warning-namespace'' will accept the name in which the logging information is classified into. Since our method rethrows ''common-fail:object-unreachable'' we pass that along into ''rethrow-failure'', and if none is passed, it will rethrow the same error it received.
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