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tutorials:advanced:new-robot [2019/02/21 10:12] – [Create a CRAM YOUR_ROBOT_NAME projection package] vanessatutorials:advanced:new-robot [2019/02/23 08:38] – [Spawn the robot in Bullet] vanessa
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 The HSR does not have so many links and joins as the PR2 so our life is much easier on that point.  The HSR does not have so many links and joins as the PR2 so our life is much easier on that point. 
  
-Which files are needed in the //cram_hsrb// package: +Which files are later needed in the //cram_hsrb// package: 
   * **cram_hsrb_description**   * **cram_hsrb_description**
     * arms.lisp     * arms.lisp
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 For reference and starting point take a look at those package for the pr2 or hsrb. For reference and starting point take a look at those package for the pr2 or hsrb.
-Open your ''roslisp_repl'' and load every packages you will need. +
  
  
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 ==== Spawn the robot in Bullet ==== ==== Spawn the robot in Bullet ====
  
-Use the Prolog assertion predicates. See example of how PR2 is spawned from a URDF in the bullet tutorial: http://cram-system.org/tutorials/intermediate/bullet_world#bullet_world_initialization.+Use the Prolog assertion predicates. See example of how PR2 is spawned from a URDF in the bullet tutorial: http://cram-system.org/tutorials/intermediate/bullet_world#bullet_world_initialization. Open your ''roslisp_repl'' and load the cram-bullet-world-tutorial, for now this containts everything we need for the first step. 
  
  
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                     (cram-robot-interfaces:robot ?robot)                     (cram-robot-interfaces:robot ?robot)
                     (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf ,robot-urdf))                     (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf ,robot-urdf))
-                    (cram-robot-interfaces:robot-arms-parking-joint-states ?robot ?joint-states) 
                     (assert (btr:joint-state ?world ?robot ?joint-states))                     (assert (btr:joint-state ?world ?robot ?joint-states))
                     (assert (btr:joint-state ?world ?robot (("torso_lift_joint" 0.15d0)))))))                     (assert (btr:joint-state ?world ?robot (("torso_lift_joint" 0.15d0)))))))
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                                             (search "<link name=\"hand_motor_dummy_link\"" robi))                                             (search "<link name=\"hand_motor_dummy_link\"" robi))
                                     *tool-frame*                                     *tool-frame*
-                                    (subseq robi (search "<link name=\"hand_motor_dummy_link\"" robi)))))))robot))+                                    (subseq robi (search "<link name=\"hand_motor_dummy_link\"" robi))))))) 
 +    robot))
 </code> </code>