XML format description - Revision history

130.243.124.212: /* SSSP */

2018-05-28T10:40:42Z

‎SSSP

2018-05-28T10:36:40Z

‎General structure

2018-05-28T10:26:38Z

‎SOP

2018-05-28T09:57:52Z

‎General structure

2018-05-28T09:52:54Z

‎Other tags

2018-05-28T08:36:52Z

‎Action-Motion mapping

2018-05-28T08:36:20Z

‎Action-Motion mapping

2018-05-28T08:35:56Z

‎Action-Motion mapping

2018-05-28T08:35:16Z

‎Action-Motion mapping

2018-05-28T08:32:34Z

‎Action-Motion mapping

@@ Line 91: / Line 91: @@
 </syntaxhighlight>
-Alternatively, SSSP can be represented by polygonal regions. Then, the tag '''<pssp>''' (polygon supporting stable placements) is used and a polygonal region is specified as a list of 3d coordinates '''in the reference frame of the object''', assumed to lie in a plane:
+Alternatively, SSSP can be represented by polygonal regions. Then, the tag '''<pssp>''' (polygon supporting stable placements) is used and a polygonal region is specified as a list of 3D coordinates '''in the reference frame of the object''', assumed to lie in a plane:
 <syntaxhighlight  lang="xml" line="line">

@@ Line 34: / Line 34: @@
 </syntaxhighlight>
-<u>Remark:</u> The label used for the object's name is identical to the PDDL constant referring to that object.
+<u>Note:</u> The label used for the object's name is identical to the PDDL constant referring to that object.
 == Parameters ==

@@ Line 119: / Line 119: @@
 * Several SOP can be defined for one object, to represent, e.g., SOP in upright position and SOP in up-side-down position.
 * SOP is not required for objects which are not moveable.
 == Initial object attachments ==

@@ Line 32: / Line 32: @@
     <attachments>...</attachments>
 </obj>
 == Parameters ==
 All numerical values are expressed in standard units: meters (distances) and radians (angles).

@@ Line 164: / Line 164: @@
 == Other tags ==
 * for objects
-'''<name>''': Name of the object. Refers to the name used in the pddl files.<br />
+'''<name>''': Name of the object. Refers to the name used in the PDDL files.<br />
 '''<geom>''': Specifies the OBJ file for that object.<br />
 '''<pose>''': Initial transformation matrix of the object.<br />

@@ Line 160: / Line 160: @@
 which means that a dual-arm motion planner can be used, or that if one arm is used for a ''pick'' action, the other arm may be moved as well (e.g., in case of obstruction). Whether the base can be moved or not is specified with the '''<movebase>''' tag in the description of the robot (see next section).
-Where the tag '''<name></name>''' contains an operator name corresponding to an operator in the PDDL domain file, and the tag '''<joints></joints>''' contains a list of corresponding joints labels in the URDF file of the robot.
+The tag '''<name></name>''' contains an operator name corresponding to an operator in the PDDL domain file, and the tag '''<joints></joints>''' contains a list of corresponding joints labels in the URDF file of the robot.
 == Other tags ==

@@ Line 158: / Line 158: @@
 </syntaxhighlight>
-which means that a dual-arm motion planner can be used, or that if one arm is used for a ''pick'' action, the other arm may be moved as well (e.g., in case of obstruction). Whether the base can be moved or not is specified with the '''<move_base>''' tag in the description of the robot ().
+which means that a dual-arm motion planner can be used, or that if one arm is used for a ''pick'' action, the other arm may be moved as well (e.g., in case of obstruction). Whether the base can be moved or not is specified with the '''<move_base>''' tag in the description of the robot (see next section).
 Where the tag '''<name></name>''' contains an operator name corresponding to an operator in the PDDL domain file, and the tag '''<joints></joints>''' contains a list of corresponding joints labels in the URDF file of the robot.

@@ Line 137: / Line 137: @@
 <AMmapping>
     <action>
-       <name>pick-left</name>
+       <name>pick-right</name>
        <joints>r_shoulder_pan_joint r_shoulder_lift_joint r_upper_arm_roll_joint r_forearm_roll_joint r_elbow_flex_joint r_wrist_flex_joint r_wrist_roll_joint r_gripper_motor_slider_joint</joints>
     </action>
     <action>
-       <name>pick-right</name>
+       <name>pick-left</name>
        <joints>l_shoulder_pan_joint l_shoulder_lift_joint l_upper_arm_roll_joint l_forearm_roll_joint l_elbow_flex_joint l_wrist_flex_joint l_wrist_roll_joint  l_gripper_motor_slider_joint</joints>
     </action>