Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
tutorials:advanced:new-robot [2019/02/21 10:12] – [Create a CRAM YOUR_ROBOT_NAME projection package] vanessa | tutorials:advanced:new-robot [2019/02/23 08:44] – [Spawn the robot in Bullet] vanessa | ||
---|---|---|---|
Line 201: | Line 201: | ||
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 // | + | Which files are later needed in the // |
* **cram_hsrb_description** | * **cram_hsrb_description** | ||
* arms.lisp | * arms.lisp | ||
Line 219: | Line 219: | ||
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 '' | + | |
Line 226: | Line 226: | ||
==== 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:// | + | Use the Prolog assertion predicates. See example of how PR2 is spawned from a URDF in the bullet tutorial: http:// |
Line 260: | Line 260: | ||
(cram-robot-interfaces: | (cram-robot-interfaces: | ||
(assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf , | (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf , | ||
- | (cram-robot-interfaces: | ||
(assert (btr: | (assert (btr: | ||
(assert (btr: | (assert (btr: | ||
Line 272: | Line 271: | ||
{{: | {{: | ||
- | + | The '' | |
- | At this moment the command: | + | |
<code lisp> | <code lisp> | ||
(defvar *robot-base-frame* nil | (defvar *robot-base-frame* nil | ||
Line 289: | Line 287: | ||
"Tool frame of the right arm. Initialized from CRAM robot desciption." | "Tool frame of the right arm. Initialized from CRAM robot desciption." | ||
</ | </ | ||
- | Usually u will define those parameters in the ROBOT_description package. For now to simply test the beginning | + | Usually u will define those parameters in the ROBOT_description package. For now to simply test the beginning |
Line 304: | Line 302: | ||
(btr:object btr: | (btr:object btr: | ||
</ | </ | ||
- | To get the instance of the spawned Bullet object there is a function. | + | |
After lifting the torso the HSR should looks like this: | After lifting the torso the HSR should looks like this: | ||
Line 518: | Line 516: | ||
(search "< | (search "< | ||
*tool-frame* | *tool-frame* | ||
- | (subseq robi (search "< | + | (subseq robi (search "< |
+ | | ||
</ | </ |