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tutorials:intermediate:simple_mobile_manipulation_plan [2019/02/27 15:32]
amar Added an overview of some designators used
tutorials:intermediate:simple_mobile_manipulation_plan [2019/02/27 16:14] (current)
amar [Constructing plans] Added notes about simulated and real robot environment.
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       (pp-plans::​park-arms :arm ?​grasping-arm))))       (pp-plans::​park-arms :arm ?​grasping-arm))))
 </​code>​ </​code>​
 +
 +Note that the plan is nested under ''​pr2-proj:​with-simulated-robot''​ indicating that all the methods resolved by the designators is being called for the projection environment (You can see these low level methods being called under the ''​cram_pr2_projections''​ package under ''​low-level.lisp''​). If ''​pr2-pms:​with-real-robot''​ is used to replace this, the functions from the real robot ROS interfaces will be called. Also note that it is possible to execute actions which are independent in parallel (In this case, moving the robot torso up and moving the robot base are independent actions done in parallel)
  
 Now run ''​(move-bottle)''​ and you will see that the robot successfully picks the bottle and places it on the counter. Now run ''​(move-bottle)''​ and you will see that the robot successfully picks the bottle and places it on the counter.