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tutorials:intermediate:simple_mobile_manipulation_plan [2019/08/02 14:31] – [Some Useful Designators] Added more information about the object designator amar | tutorials:intermediate:simple_mobile_manipulation_plan [2022/04/13 08:27] – [Constructing plans] schimpf | ||
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Line 97: | Line 97: | ||
<code lisp> | <code lisp> | ||
BTW-TUT> | BTW-TUT> | ||
- | (defparameter *final-object-destination* | + | (defparameter *final-object-destination* |
(cl-transforms-stamped: | (cl-transforms-stamped: | ||
" | " | ||
| | ||
- | | + | |
(defparameter *base-pose-near-table* | (defparameter *base-pose-near-table* | ||
Line 135: | Line 135: | ||
(defun move-bottle () | (defun move-bottle () | ||
(spawn-bottle) | (spawn-bottle) | ||
- | (pr2-proj: | + | (urdf-proj: |
(let ((? | (let ((? | ||
(cpl:par | (cpl:par | ||
Line 143: | Line 143: | ||
(pp-plans:: | (pp-plans:: | ||
;; Moving the robot near the table. | ;; Moving the robot near the table. | ||
- | (exe: | + | (exe: |
(type going) | (type going) | ||
(target (desig:a location | (target (desig:a location | ||
Line 149: | Line 149: | ||
;; Looking towards the bottle before perceiving. | ;; Looking towards the bottle before perceiving. | ||
(let ((? | (let ((? | ||
- | (exe: | + | (exe: |
(type looking) | (type looking) | ||
(target (desig:a location | (target (desig:a location | ||
Line 168: | Line 168: | ||
;; Moving the robot near the counter. | ;; Moving the robot near the counter. | ||
(let ((?nav-goal *base-pose-near-counter*)) | (let ((?nav-goal *base-pose-near-counter*)) | ||
- | (exe: | + | (exe: |
(type going) | (type going) | ||
(target (desig:a location | (target (desig:a location | ||
Line 184: | Line 184: | ||
</ | </ | ||
- | Note that the plan is nested under '' | + | Note that the plan is nested under '' |
Now run '' | Now run '' |