Differences

This shows you the differences between two versions of the page.

Link to this comparison view

tutorials:intermediate:new_actions [2019/01/02 18:44]
vanessa [Pick-action-designator]
tutorials:intermediate:new_actions [2019/01/02 18:46] (current)
vanessa [Pick-action-designator]
Line 178: Line 178:
                                                           ?​left-grasp-poses ?​right-grasp-poses                                                           ?​left-grasp-poses ?​right-grasp-poses
                                                           ?​left-lift-poses ?​right-lift-poses))                                                           ?​left-lift-poses ?​right-lift-poses))
-    ​</​code>​ +</​code>​ 
-    First extract all information from ?​action-designator. + 
-    <code lisp>+First extract all information from ?​action-designator. 
 +    ​ 
 +<code lisp>
     (spec:​property ?​action-designator (:type :​picking-up))     (spec:​property ?​action-designator (:type :​picking-up))
     (spec:​property ?​action-designator (:object ?​object-designator))     (spec:​property ?​action-designator (:object ?​object-designator))
Line 192: Line 194:
     ​     ​
     </​code>​     </​code>​
-       Infer missing information like ?grasp type, gripping ?​maximum-effort,​ manipulation poses. Then calculate the object facing, because the system needs to know how the object, that will be picked up, is facing so that the rotation is correctly and the transformation from gripper to object will be properly. +     
-    <code lisp>+Infer missing information like ?grasp type, gripping ?​maximum-effort,​ manipulation poses. Then calculate the object facing, because the system needs to know how the object, that will be picked up, is facing so that the rotation is correctly and the transformation from gripper to object will be properly. 
 +  
 +   <code lisp>
    
     (lisp-fun man-int:​calculate-object-faces ?​object-transform (?​facing-robot-face ?​bottom-face))     (lisp-fun man-int:​calculate-object-faces ?​object-transform (?​facing-robot-face ?​bottom-face))
Line 221: Line 225:
  
  
- +    ​
- <​code lisp> ​    ​(lisp-fun man-int:​calculate-object-faces ?​object-transform (?​facing-robot-face ?​bottom-face)) +
-    (-> (man-int:​object-rotationally-symmetric ?​object-type) +
-        (equal ?​rotationally-symmetric t) +
-        (equal ?​rotationally-symmetric nil)) +
-    (-> (spec:​property ?​action-designator (:grasp ?grasp)) +
-        (true) +
-        (and (lisp-fun man-int:​get-object-type-grasps ?​object-type ?arm ?​object-transform ?grasps) +
-             ​(member ?grasp ?grasps))) </​code> ​   +
-              +
 ====== Get-trajectory ====== ====== Get-trajectory ======