Differences

This shows you the differences between two versions of the page.

--- tutorials:advanced:new-robot [2019/02/23 08:44] – [Spawn the robot in Bullet] vanessa
+++ tutorials:advanced:new-robot [2019/03/05 12:08] (current) – [Action designators and plans] gkazhoya
@@ Line 188: / Line 188: @@
 ===== 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://cram-system.org/tutorials/intermediate/simple_mobile_manipulation_plan|this tutorial]] for an example.
 ===== Projection for your new robot =====
@@ Line 376: / Line 377: @@
 </code>
-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>