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| Both sides previous revisionPrevious revision | Next revisionBoth sides next revision |
| tutorials:intermediate:simple_mobile_manipulation_plan [2019/07/08 18:09] – [Expanding Failure Management Capabilities] gkazhoya | tutorials:intermediate:simple_mobile_manipulation_plan [2019/07/16 11:26] – [Some Useful Designators] ?grasp-pose -> ?grasp-pose-identifier amar |
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| * <code lisp> (desig:a motion (type detecting) (object ?obj-desig)) </code> is a a motion that perceives and detects the specified object. It expects a key ''object'' with a value of type ''object-designator'' | * <code lisp> (desig:a motion (type detecting) (object ?obj-desig)) </code> is a a motion that perceives and detects the specified object. It expects a key ''object'' with a value of type ''object-designator'' |
| * **Action Designators** - These describe the high-level actions which may consist of multiple calls to different low-level motion to carry out a small plan. | * **Action Designators** - These describe the high-level actions which may consist of multiple calls to different low-level motion to carry out a small plan. |
| * <code lisp> (desig:an action (type picking-up) (arm ?grasp-arm) (grasp ?grasp-pose) (object ?obj-desig)) </code> is an action that picks an object with the specified arm and grasp pose. It expects an ''object'' key with value of type ''object-designator'', an ''arm'' with the value of type keyword for the arm to choose, and a ''grasp'' key whose value specifies the keyword of the grasp pose to pick the object with. | * <code lisp> (desig:an action (type picking-up) (arm ?grasp-arm) (grasp ?grasp-pose-identifier) (object ?obj-desig)) </code> is an action that picks an object with the specified arm and grasp pose. It expects an ''object'' key with value of type ''object-designator'', an ''arm'' with the value of type keyword for the arm to choose, and a ''grasp'' key whose value specifies a keyword which is an identifier of the grasp pose to pick the object with. |
| * <code lisp> (desig:an action (type placing) (arm ?grasp-arm) (object ?obj-desig) (target ?loc-desig)) </code> is an action that places the object specified to the target. It expects an optional key ''arm'' with the keyword of the arm to use, an ''object'' of type ''object-designator'' and a ''target'' key with the value of type ''location-designator''. | * <code lisp> (desig:an action (type placing) (arm ?grasp-arm) (object ?obj-desig) (target ?loc-desig)) </code> is an action that places the object specified to the target. It expects an optional key ''arm'' with the keyword of the arm to use, an ''object'' of type ''object-designator'' and a ''target'' key with the value of type ''location-designator''. |
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