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tutorials:advanced:new-robot [2019/02/21 10:14] – [Create a CRAM YOUR_ROBOT_NAME projection package] vanessa | tutorials: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 // | + | Which files are later needed in the // |
* **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 '' | + | |
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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:// | + | Use the Prolog assertion predicates. See example of how PR2 is spawned from a URDF in the bullet tutorial: http:// |
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(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: |