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tutorials:intermediate:simple_mobile_manipulation_plan [2022/04/14 09:21] – [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 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> <code lisp>
 BTW-TUT> (move-bottle) BTW-TUT> (move-bottle)
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 [(PICK-PLACE PICK-UP) INFO] 1649925566.714: Looking [(PICK-PLACE PICK-UP) INFO] 1649925566.714: Looking
 [(PICK-PLACE PICK-UP) INFO] 1649925566.758: Opening gripper and reaching [(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  [(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