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--- tutorials:robocup:robocup [2023/06/29 10:33] – vanessa
+++ tutorials:robocup:robocup [2023/06/29 10:48] (current) – vanessa
@@ Line 14: / Line 14: @@
 <code lisp>
 (defun make-cml-constraint (drive-back laser-distance-threshold)
-  ;; (declare  (type cl-transforms-stamped:pose-stamped goal-pose))
   (roslisp:make-message
    'giskard_msgs-msg:constraint
@@ Line 32: / Line 31: @@
+<code lisp>
+(defun make-cml-action-goal (drive-back laser-distance-threshold)
+  (giskard::make-giskard-goal
+   :joint-constraints (make-cml-constraint drive-back laser-distance-threshold)))
+</code>
+Within cram_external_interfaces/cram_giskard/src/process-module you will need to add yourr designator to (cpm:def-process-module giskard-pm (motion-designator)
+<code lisp>
+...
+(cram-common-designators:carry-my-luggage
+       (giskard::call-cml-action
+        :drive-back argument-1
+        :laser-distance-threshold (first rest-args)
+        ))
+...
+</code>
+Within cram_common/cram_common_designators/src/motions.lisp you will need to add your motion designator grounding
+<code lisp>
+  (<- (motion-grounding ?designator (carry-my-luggage ?drive-back ?laser-distance-threshold))
+    (property ?designator (:type :cml))
+    (once (or (desig:desig-prop ?designator (:drive-back ?drive-back))
+              (equal ?drive-back nil)))
+    (once (or (desig:desig-prop ?designator (:laser-distance-threshold ?laser-distance-threshold))
+              (equal ?laser-distance-threshold nil))))
+</code>
+Now add your function into the defpackage description to make it jucy
+<code lisp>
+#:carry-my-luggage
+</code>
+Finally add the motion designator type into the matching process module, for suturo this is sadly in cram_hsrb/suturo_real_hsr_pm/src/with-real-hsr-pm.lisp
+<code lisp>
+ (prolog:<- (cpm:matching-process-module ?motion-designator giskard:giskard-pm)
+    (or (desig:desig-prop ?motion-designator (:type :moving-tcp))
+        (desig:desig-prop ?motion-designator (:type :reaching))
+        (...)
+        (desig:desig-prop ?motion-designator (:type :cml))
+      * (...)
+</code>