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tutorials:advanced:new-robot [2019/02/23 08:38] – [Spawn the robot in Bullet] vanessa | tutorials:advanced:new-robot [2019/02/23 08:44] – [Spawn the robot in Bullet] vanessa | ||
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{{: | {{: | ||
- | + | The '' | |
- | At this moment the command: | + | |
<code lisp> | <code lisp> | ||
(defvar *robot-base-frame* nil | (defvar *robot-base-frame* nil | ||
Line 288: | 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 303: | 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: |