Action Examples

This section demonstrates how to create a experiment yaml file using simple actions and use it with the RAS.

In the config/experiments folder inside the ras_sim_lab, you can create a <your_experiment_name>.yaml file which can be used to define the actions for the robot to perform.

Example 1

1. Create a new yaml file e.g. 5.yaml in the config/experiments folder inside the ras_sim_lab.

2. Now define the poses for the robot. The poses are defined as a dictionary with the keys as the name of the pose and the values as the pose values. The pose values are defined as a dictionary with the keys as the x, y, z, roll, pitch and yaw values. See the example below and create a similar dictionary for the poses.:

Poses:
    out1: {x: 0.2, y: 0, z: 0.5, roll: 3.14, pitch: 0, yaw: 0}

3. Next define the targets for the robot. The targets are defined as a list of actions that the robot should perform.

Currently the following actions are supported:

• The move2pose action is used to move the robot to a specific pose. The value of the action is the name of the pose that the robot should move to.

• The gripper action is used to open or close the gripper. The value of the action is a boolean value where true means the gripper should be closed and false means the gripper should be opened.

• The rotate action is used to rotate the end-effector. The value of the action is the angle in radians that the robot should rotate.

The actions are defined as a dictionary with the keys as the action name and the values as the action values. See the example below:

targets:
    - move2pose: out1
    - gripper: true

4. Here is the complete yaml file for the example:

Poses:
    out1: {x: 0.2, y: 0, z: 0.5, roll: 3.14, pitch: 0, yaw: 0}
    above1: {x: 0.2, y: -0.35, z: 0.33, roll: 3.14, pitch: 0, yaw: -1.575}
    in1: {x: 0.2, y: -0.35, z: 0.25, roll: 3.14, pitch: 0, yaw: -1.575}
    out2: {x: 0.2, y: 0, z: 0.5, roll: 3.14, pitch: 0, yaw: -1.575}
    above2: {x: 0.40, y: 0.0, z: 0.37, roll: 3.14, pitch: 0, yaw: -1.575}
    in2: {x: 0.40, y: 0.0, z: 0.33, roll: 3.14, pitch: 0, yaw: -1.575}

targets:
    - move2pose: out1
    - move2pose: above1
    - move2pose: in1
    - gripper: true
    - move2pose: above1
    - move2pose: out2
    - move2pose: above2
    - move2pose: in2
    - gripper: false

5. Start the server application by running the following command:

ras server dev

ras_app

6. To start the experiment, open the terminal and use the following command:

ras_cli load_experiment 5

ras_cli run_sim

7. This will start the experiment described above robot, and it will perform the actions defined in the .yaml file.