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commands.txt
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(defparameter cafe (make-designator 'object `((name "cafetfilter")
(edible nil)
(dimensions (0.132 0.197 0.037))
(grip-force 50)
(at ,(make-designator 'location `((frame ,"/base_footprint")
(coords (0.1 0.6 0.7))
(on ,(make-designator 'object `((name ,sp-planlib::*table-name*))))))))))
(defparameter dlink (make-designator 'object `((name "dlink")
(dimensions (0.24 0.169 0.035))
(grip-force 50)
(at ,(make-designator 'location `((frame ,"/base_footprint")
(coords (0.4 -0.2 0.8))
(on ,(make-designator 'object `((name ,sp-planlib::*table-name*))))))))))
(defparameter corny (make-designator 'object `((name "corny")
(dimensions (0.143 0.145 0.036))
(grip-force 50)
(at ,(make-designator 'location `((frame ,"/base_footprint")
(coords (0.4 0.0 0.8))
(on ,(make-designator 'object `((name ,sp-planlib::*table-name*))))))))))
(defparameter obj (sp-knowledge::call-action 'sp-knowledge::get-graspable-objects sp-planlib::*table-name*))
(defparameter corn (make-designator 'object (update-designator-properties '((unknown t)) (description corny))))
;(defparameter loc (make-designator 'location '((on cupboard) (name "kitchen_island"))))
(defparameter loc (make-designator 'location `((on ,sp-planlib::*table-name*) (name ,sp-planlib::*table-name*))))
(defparameter loc2 (make-designator 'location `((on ,sp-planlib::*counter-name*) (name ,sp-planlib::*counter-name*))))
(call-grasp-action cafe 'left-arm)
(call-grasp-action corny 'right-arm)
(call-grasp-action dlink 'right-arm)
(call-initial-action 'left-arm)
(call-initial-action 'right-arm)\
(defparameter base-link-in-map (transform "/base_link" "/map" :timeout 2))
(call-move-base-action
(pose->pose-stamped
(cl-transforms:transform base-link-in-map
(cl-tf:make-pose-stamped "/base_link" 0.0
(cl-tf:make-3d-vector 0 0.2 0)
(cl-tf:make-identity-rotation)))
"/map"))
(call-move-arm-action (make-designator 'location '((frame "/odom_combined") (coords (0.00 0.65 1.15)) (pose (0.5 -0.5 0.5 0.5)))) 'left-arm)
(call-move-arm-action (make-designator 'location `((frame "/base_footprint") (coords (0.5 0.4 0.9)) (pose ,(get-last-gripper-pose cafe)))) 'left-arm)
(call-move-arm-action (make-designator 'location `((frame "/base_footprint") (coords (0.5 0.4 0.9)) (pose ,(cl-transforms-euler-degree->quaternion-as-list :ax 45 :ay 0 :az 0)))) 'left-arm)
(call-move-arm-action (make-designator 'location `((frame "/l_wrist_roll_link") (coords (-0.05 0 0)) (pose ,(get-last-gripper-pose cafe)))) 'left-arm)
(sp-gripper-monitor:get-gripper-pose 'left-arm :target-frame "/base_link")
(call-move-arm-action (make-designator 'location `((frame "/l_wrist_roll_link") (coords (0 0 0)) (pose ,(cl-transforms-euler-degree->quaternion-as-list :ax 45 :ay 0 :az 0)))) 'left-arm)
(call-move-arm-action (make-designator 'location `((frame "/base_footprint") (coords (0.7 0.35 1.0)) (pose ,(cl-transforms-euler-degree->quaternion-as-list :ax 0 :ay 0 :az 0)))) 'left-arm)
(make-designator 'location '((frame "/map") (coords (-0.9595373 1.2592965 0.9259399)) (pose (0 0 0 1))))
(suturo-planning-executive::place-gently-plan cafe (make-designator 'location `((frame "/base_footprint") (coords (0.5 0.3 0.63)) (pose (0 0 0 1)) (on ,sp-planlib::*table-name*))))
(suturo-planning-executive::know-unknown-object-plan corny (make-designator 'location `((frame "/base_link") (coords (0.5 0.0 0.7)) (on ,sp-planlib::*table-name*))))
(suturo-planning-executive::place-gently-plan corny loc)
;(call-move-arm-action (make-designator 'location '((frame "base_footprint") (coords (0.1 0.6 1.0)) (pose (0 0 1 0)))) 'left-arm)
;(call-move-arm-action (make-designator 'location '((frame "/odom_combined") (coords (0.3 0.6 1.0)) (pose (0.5 0.5 0.5 0.5)))) 'left-arm)
;(call-move-arm-action (make-designator 'location '((frame "/odom_combined") (coords (0.3 0.6 1.0)) (pose (0.5 -0.5 0.5 0.5)))) 'left-arm)
;(call-move-arm-action (make-designator 'location '((frame "/odom_combined") (coords (0.3 -0.6 1.0)) (pose (0.5 0.5 0.5 -0.5)))) 'right-arm)
;(call-move-arm-action (make-designator 'location '((frame "/odom_combined") (coords (0.73 -0.2 1.0)) (pose (0.5 -0.5 -0.5 -0.5)))) 'right-arm)
; auf dem tisch
(make-designator 'location '((on cupboard) (frame "/odom_combined") (coords (0.5 0.5 0.6))))
(make-designator 'location '((on cupboard) (name "kitchen_island")))
(defparameter loc (make-designator 'location '((on cupboard) (name "kitchen_island"))))
(defparameter topic-a (roslisp:subscribe
"suturo_man_move_home_server/result"
"suturo_manipulation_msgs/suturo_manipulation_homeActionResult"
#'(lambda (msg) (format t "###########~%RESULT A~%##########~%"))))
(defparameter topic-b (roslisp:subscribe
"suturo_man_move_home_server/result"
"suturo_manipulation_msgs/suturo_manipulation_homeActionResult"
#'(lambda (msg) (format t "###########~%RESULT B~%##########~%"))))
(roslisp:unsubscribe topic-a)
(roslisp:unsubscribe topic-b)
(call-initial-action 'right-arm)
(setf pose (cl-tf:msg->pose-stamped
(roslisp:make-message
"geometry_msgs/PoseStamped"
(header) (roslisp:make-message
"std_msgs/Header"
(stamp) (roslisp:ros-time)
(frame_id) "/base_footprint")
(pose) (roslisp:make-message
"geometry_msgs/Pose"
(position) (roslisp:make-msg
"geometry_msgs/Point"
(x) 0
(y) 1
(z) 0)
(orientation) (roslisp:make-msg
"geometry_msgs/Quaternion"
(w) 1)))))
(call-move-base-action pose)
(top-level
(exec::with-process-modules
(with-designators ((move-arm (action `((to move-arm)
(loc ,(make-designator 'location '((frame "/odom_combined") (coords (0.00 0.65 1.15)) (pose (0.5 -0.5 0.5 0.5)))))
(arm left-arm)))))
(format t "performing ~a~%" move-arm)
(perform move-arm))))
(top-level
(exec::with-process-modules
(with-designators ((move-arm (action `((to move-arm)
(loc ,(make-designator 'location '((frame "/odom_combined") (coords (0.00 -0.65 0.95)) (pose (0.5 0.5 0.5 0.5)))))
(arm right-arm)))))
(format t "performing ~a~%" move-arm)
(perform move-arm))))
POSEN
left-arm
/base_link (0.5000285573285219d0 0.4990192438614538d0 -0.5000920419769876d0 0.500858448728967d0) frontal
right-arm
/base-link (-0.4979847991023766d0 0.5021521617962537d0 0.49771687296865463d0 0.5021277333792858d0) frontal
./suturo_manipulation/suturo_manipulation_gazebo/launch_simulation_with_3_obj.zsh
rosrun suturo_knowledge_location localize_gazebo
roslaunch suturo_knowledge_foodreasoner reasoner_rosnode_gazebo.launch
rosrun rviz rviz
roslaunch suturo_manipulation_action suturo_manipulation_servers_non_reactive.launch
roslaunch suturo_perception_rosnode run_gazebo.launch
cd ...foodreasoner... cp owl/gazebo_room.owl lib/iai_maps/owl/room.owl
Prolog query failed: PrologException: error(syntax_error(cannot_start_term), string('expand_goal((),_Q), call(_Q) . ', 13)).
[Condition of type SIMPLE-ERROR]