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tutorials:advanced:new-robot [2019/02/23 08:36] – [URDF] vanessa | tutorials:advanced:new-robot [2019/03/05 12:08] (current) – [Action designators and plans] gkazhoya | ||
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===== Action designators and plans ===== | ===== Action designators and plans ===== | ||
- | This is TODO... | + | Everything above motion designators should be independent of the robot platform. |
+ | For example, try performing a picking up action with your robot. | ||
+ | See [[http:// | ||
===== Projection for your new robot ===== | ===== Projection for your new robot ===== | ||
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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: | ||
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{{: | {{: | ||
- | + | The '' | |
- | At this moment the command: | + | |
<code lisp> | <code lisp> | ||
(defvar *robot-base-frame* nil | (defvar *robot-base-frame* nil | ||
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"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 |
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(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: | ||
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</ | </ | ||
- | If no **gripper_tool_joint** is defined for your robot you need to add one in the URDF it self. It is important that the parent will be the wrist_palm_link and the joint is fixed. The origin you will need to change yourself it should be directly in the middle of the gripper. However since we dont want to change the original URDF we decided that there will be a setup-urdf.lisp file for the hsr that takes care of this. | + | If no **gripper_tool_joint** is defined for your robot you need to add one in the URDF it self. It is important that the parent will be the wrist_palm_link and the joint is fixed. The origin you will need to change yourself it should be directly in the middle of the gripper. However since we dont want to change the original URDF we decided that there will be a setup-urdf.lisp file for the HSR that takes care of the necessary URDF changes. |
<code lisp> | <code lisp> |