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--- tutorials:intermediate:simple_mobile_manipulation_plan [2022/04/14 09:15] – [Expanding Failure Management Capabilities] schimpf
+++ tutorials:intermediate:simple_mobile_manipulation_plan [2022/04/25 09:20] (current) – schimpf
@@ Line 1: / Line 1: @@
-**//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 ======
@@ Line 349: / Line 349: @@
   (btr:simulate btr:*current-bullet-world* 10))
 </code>
-Now run ''move-bottle'' once more, and with this output being a heavily compressed output for readability:
+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>
 BTW-TUT> (move-bottle)
@@ Line 355: / Line 355: @@
 [(PICK-PLACE PICK-UP) INFO] 1649925566.714: Looking
 [(PICK-PLACE PICK-UP) INFO] 1649925566.758: Opening gripper and reaching
-[(PERFORM ACTION) INFO] 1649925566.760: Action goal `((GRIPPER-JOINT-AT RIGHT 0.1))' already achieved.
 [(URDF-PROJ MOVE-TCP) ERROR] 1649925567.115: #<POSE-STAMPED
    FRAME-ID: "torso_lift_link", STAMP: 0.0
@@ Line 537: / Line 536: @@
 BTW-TUT> (init-projection)
 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>
 {{:tutorials:intermediate:btw-tut-grasp-again.png?800|}}