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tutorials:intermediate:simple_mobile_manipulation_plan [2022/04/13 11:45] – [Expanding Failure Management Capabilities] schimpftutorials:intermediate:simple_mobile_manipulation_plan [2022/04/25 09:20] (current) – schimpf
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-**//Tested with Cram v0.7.0, ROS version: Kinetic, Ubuntu 16.04//**+**//Tested with Cram v0.8.0, ROS version: Noetic, Ubuntu 20.04//**
  
 ====== Simple Mobile Manipulation Plan ====== ====== Simple Mobile Manipulation Plan ======
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   (btr:simulate btr:*current-bullet-world* 10))   (btr:simulate btr:*current-bullet-world* 10))
 </code> </code>
-Now run ''move-bottle'' once more, and the output should be something similar to as below:+Now run ''move-bottle'' once more, and and the output should look like this [Some messages that would come up are suppressed here for readability.] 
 <code lisp> <code lisp>
 BTW-TUT> (move-bottle) BTW-TUT> (move-bottle)
-[(PICK-PLACE PICK-UP) INFO] 1550502686.470: Opening gripper + 
-[(PICK-PLACE PICK-UP) INFO] 1550502686.470: Reaching +[(PICK-PLACE PICK-UP) INFO] 1649925566.714: Looking 
-[(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) WARN] 1550502686.797: #<POSE-STAMPED +[(PICK-PLACE PICK-UP) INFO] 1649925566.758: Opening gripper and reaching 
 +[(URDF-PROJ MOVE-TCP) ERROR] 1649925567.115: #<POSE-STAMPED 
    FRAME-ID: "torso_lift_link", STAMP: 0.0    FRAME-ID: "torso_lift_link", STAMP: 0.0
-   #<3D-VECTOR (0.6819813024319948d0 0.4206671881870251d0 -0.11278482277792945d0)> +   #<3D-VECTOR (0.5899999463583037d0 0.6470002075389858d0 -0.1556749380156398d0)> 
-   #<QUATERNION (-0.005172943672216379d0 0.0055962335340426494d0 -0.7845776913102387d0 0.6199836767360266d0)>> is unreachable for EE.+   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>> is unreachable for EE or is in collision. 
 +Failing. 
 +[(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) WARN] 1649925567.119: #<POSE-STAMPED  
 +   FRAME-ID: "torso_lift_link", STAMP: 0.0 
 +   #<3D-VECTOR (0.5899999463583037d0 0.6470002075389858d0 -0.1556749380156398d0)> 
 +   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>> is unreachable for EE or is in collision.
 Ignoring. Ignoring.
-[(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) ERROR] 1550502687.092: #<POSE-STAMPED +[(PERFORM MOTION) INFO] 1649925567.125:  
 +#<A MOTION 
 +    (TYPE MOVING-TCP) 
 +    (RIGHT-POSE #<POSE-STAMPED  
 +   FRAME-ID: "map", STAMP: 0.0 
 +   #<3D-VECTOR (-1.7999999507109004d0 -0.8699999493007575d0 0.8650000342205167d0)> 
 +   #<QUATERNION (0.0d0 0.0d0 -0.7071067690849304d0 0.7071067690849304d0)>>) 
 +    (COLLISION-MODE ALLOW-ALL) 
 +    (MOVE-BASE T)> 
 +[(URDF-PROJ MOVE-TCP) ERROR] 1649925567.483: #<POSE-STAMPED 
    FRAME-ID: "torso_lift_link", STAMP: 0.0    FRAME-ID: "torso_lift_link", STAMP: 0.0
-   #<3D-VECTOR (0.6797228574484719d0 0.4210222500057509d0 -0.2627674055849005d0)> +   #<3D-VECTOR (0.5899999463583037d0 0.6470002075389858d0 -0.22567493831366303d0)> 
-   #<QUATERNION (-0.005172943672216379d0 0.0055962335340426494d0 -0.7845776913102387d0 0.6199836767360266d0)>> is unreachable for EE.+   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>> is unreachable for EE or is in collision.
 Failing. Failing.
-[(PP-PLANS PICK-UP) WARN] 1550502687.092: Manipulation messed up: #<POSE-STAMPED +[(PICK-PLACE MOVE-ARMS-IN-SEQUENCE) ERROR] 1649925567.484: #<POSE-STAMPED 
    FRAME-ID: "torso_lift_link", STAMP: 0.0    FRAME-ID: "torso_lift_link", STAMP: 0.0
-   #<3D-VECTOR (0.6797228574484719d0 0.4210222500057509d0 -0.2627674055849005d0)> +   #<3D-VECTOR (0.5899999463583037d0 0.6470002075389858d0 -0.22567493831366303d0)> 
-   #<QUATERNION (-0.005172943672216379d0 0.0055962335340426494d0 -0.7845776913102387d0 0.6199836767360266d0)>> is unreachable for EE.+   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>> is unreachable for EE or is in collision. 
 +Failing. 
 +[(PP-PLANS PICK-UP) WARN] 1649925567.484: Manipulation messed up: #<POSE-STAMPED  
 +   FRAME-ID: "torso_lift_link", STAMP: 0.0 
 +   #<3D-VECTOR (0.5899999463583037d0 0.6470002075389858d0 -0.22567493831366303d0)> 
 +   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>> is unreachable for EE or is in collision.
 Ignoring. Ignoring.
-; Evaluation aborted on #<CRAM-COMMON-FAILURES:MANIPULATION-POSE-UNREACHABLE {10100E64C3}>.+[(PICK-PLACE PICK-UP) INFO] 1649925567.484: Grasping 
 +[(PICK-PLACE PICK-UP) INFO] 1649925567.845: Gripping 
 +[(PICK-AND-PLACE GRIP) WARN] 1649925567.875: There was no object to grip 
 +Retrying 
 +[(PICK-AND-PLACE GRIP) WARN] 1649925567.888: No retries left. Propagating up. 
 +; Evaluation aborted on #<CRAM-COMMON-FAILURES:GRIPPER-CLOSED-COMPLETELY {10058EA443}>. 
 </code> </code>
  
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 BTW-TUT> (init-projection) BTW-TUT> (init-projection)
 BTW-TUT> (move-bottle) BTW-TUT> (move-bottle)
-[(PICK-PLACE PICK-UP) INFO] 1550504321.279: Opening gripper +[(PERFORM ACTION) INFO] 1649927731.920: Action goal `((ARMS-POSITIONED-AT NIL NIL))' already achieved. 
-[(PICK-PLACE PICK-UP) INFO] 1550504321.279: Reaching +[(PICK-PLACE PICK-UP) INFO] 1649927732.109: Looking 
-[(GRASP-FAILURE) WARN] Failed to grasp from LEFT-SIDE using RIGHT arm  +[(PICK-PLACE PICK-UP) INFO] 1649927732.148: Opening gripper and reaching 
-[(TRYING-NEW-GRASP) INFO] 1550504800.749: Trying to grasp from RIGHT-SIDE using RIGHT arm +[(PICK-PLACE PICK-UP) INFO] 1649927732.789: Grasping 
-[(PICK-PLACE PICK-UP) INFO] 1550504800.789: Opening gripper +[(PICK-PLACE PICK-UP) INFO] 1649927733.055: Gripping 
-[(PICK-PLACE PICK-UP) INFO] 1550504800.789: Reaching +[(PICK-PLACE GRIP) INFO] 1649927733.089: Assert grasp into knowledge base 
-[(GRASP-FAILURE) WARN] Failed to grasp from RIGHT-SIDE using RIGHT arm  +[(PICK-PLACE PICK-UP) INFO] 1649927733.097: Lifting 
-[(TRYING-NEW-GRASP) INFO] 1550504801.577: Trying to grasp from BACK using RIGHT arm +[(PICK-PLACE PLACE) INFO] 1649927733.610: Parking 
-[(PICK-PLACE PICK-UP) INFO] 1550504801.601: Opening gripper +[(PERFORM ACTION) INFO] 1649927733.834: Action goal `((ARMS-POSITIONED-AT NIL NIL))' already achieved. 
-[(PICK-PLACE PICK-UP) INFO] 1550504801.602: Reaching +[(PICK-PLACE PLACE) INFO] 1649927733.945: Looking 
-[(PICK-PLACE PICK-UP) INFO] 1550504801.939: Gripping +[(PICK-PLACE PLACE) INFO] 1649927734.003: Reaching 
-[(PICK-PLACE PICK-UP) INFO] 1550504801.973: Assert grasp into knowledge base +[(PICK-PLACE PLACE) INFO] 1649927734.430: Putting 
-[(PICK-PLACE PICK-UP) INFO] 1550504801.974: Lifting +[(PICK-PLACE PLACE) INFO] 1649927734.677: Opening gripper 
-[(PICK-PLACE PLACE) INFO] 1550504802.356: Reaching +[(PICK-PLACE PLACE) INFO] 1649927734.718: Retract grasp in knowledge base 
-[(PICK-PLACE PLACE) INFO] 1550504802.508: Putting +[(PICK-PLACE PLACE) INFO] 1649927734.807: Updating object location in knowledge base 
-[(PICK-PLACE PLACE) INFO] 1550504802.619: Opening gripper +[(PICK-PLACE PLACE) INFO] 1649927734.807: Retracting 
-[(PICK-PLACE PLACE) INFO] 1550504802.655: Retract grasp in knowledge base +[(PICK-PLACE PLACE) INFO] 1649927735.214: Parking 
-[(PICK-PLACE PLACE) INFO] 1550504802.660: Retracting+[(PERFORM ACTION) INFO] 1649927735.398: Action goal `((ARMS-POSITIONED-AT NIL NIL))' already achieved.
 </code> </code>
 {{:tutorials:intermediate:btw-tut-grasp-again.png?800|}} {{:tutorials:intermediate:btw-tut-grasp-again.png?800|}}