Differences

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

--- doc:exchanging_information_via_roboearth [2013/04/22 08:40] – created admin
+++ doc:exchanging_information_via_roboearth [2013/11/25 11:37] – [Environment 1 -- PR2 robot] admin
@@ Line 40: / Line 40: @@
 =====  Environment 1 -- PR2 robot  =====
 Download recipe and generate CPL plan (also downloads models for all objects the recipe refers to)
-  <code>
+  re_download_action_recipe('serve a drink', pr2:'PR2Robot1', Recipe),
- re_download_action_recipe('serve a drink', pr2:'PR2Robot1', Recipe),
+  re_generate_cpl_plan(Recipe, CplPlan),
- re_generate_cpl_plan(Recipe, CplPlan),
+  planvis_load(Recipe,_).
- planvis_load(Recipe,_).
-</code>
 Request environment maps (also downloads models for all objects in the map)
-<code>
- re_request_map_for([['kr:roomNumber',|3001]], [['kr:floorNumber',|'3']],
+  re_request_map_for([['kr:roomNumber',|3001]], [['kr:floorNumber',|'3']],
-                    [['kr:streetNumber',|'45']], [['rdfs:label',|'Karlstrasse']], M),
+                     [['kr:streetNumber',|'45']], [['rdfs:label',|'Karlstrasse']], M),
- owl_individual_of(Map, knowrob:'SemanticEnvironmentMap'),
+  owl_individual_of(Map, knowrob:'SemanticEnvironmentMap'),
- add_object_with_children(Map, _).
+  add_object_with_children(Map, _).
-</code>
 Find out where the bottle is (the plan does not say that it's inside the cabinet). Here: use computables to determine that it is inside the cabinet:
-<code>
+  rdf_triple(knowrob: 'in-ContGeneric', 'http://ias.cs.tum.edu/kb/ias_hospital_room.owl#bottle1', C),
- rdf_triple(knowrob: 'in-ContGeneric', 'http://ias.cs.tum.edu/kb/ias_hospital_room.owl#bottle1', C),
+  owl_individual_of(C, knowrob:'Container').
- owl_individual_of(C, knowrob:'Container').
-</code>
 Perform the task...