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tutorials:advanced:cram-rigid-body [2022/07/11 13:05] – created vanessatutorials:advanced:cram-rigid-body [2022/07/11 13:08] – vanessa
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 ====== Adding a new rigid body to the world====== ====== Adding a new rigid body to the world======
  
-In cram/cram_3d_world/cram_bullet_reasoning/src/objects.lisp  +**In cram/cram_3d_world/cram_bullet_reasoning/src/objects.lisp:** 
- +               
-```lisp+<code lisp>
 (defmethod add-object ((world bt-world) (type (eql :liquid-minor)) name pose (defmethod add-object ((world bt-world) (type (eql :liquid-minor)) name pose
-                       &key (mass 0.00001) (radius 0.01) color) +                       &key (mass 0.00001) (radius 0.01) color)      
-  ;; (let ((compound-shape (make-instance 'compound-shape))) +
-  ;;   (dotimes (i 8) +
-  ;;     (add-child-shape +
-  ;;      compound-shape +
-  ;;       (cl-transforms:make-pose +
-  ;;         (cl-transforms:make-3d-vector 0 0 0) +
-  ;;         (cl-transforms:make-quaternion 0 0 0 1)) +
-  ;;        (make-instance 'colored-sphere-shape +
-  ;;                                    :radius radius :color '(1 0 0 0.5)))) +
-           +
-    ;; ;; Adds the basket to the specified world +
-    ;;   (make-item world name (list type) +
-    ;;              (list +
-    ;;               (make-instance 'rigid-body +
-    ;;                 :name name :mass mass :pose (ensure-pose pose) +
-    ;;                 :collision-shape compound-shape))))) +
-        +
   (make-item world name (list type)   (make-item world name (list type)
               (list               (list
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                                      :radius radius :color color))                                      :radius radius :color color))
                 )))                 )))
-                ```+ 
 + 
 +</code> 
 + 
 +<code lisp> 
 + 
 +</code> 
 +