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tutorials:intermediate:bullet_world [2019/07/08 17:22] – [Moving the robot in the Bullet world] gkazhoya | tutorials:intermediate:bullet_world [2022/04/12 14:34] – [Bullet world initialization] schimpf | ||
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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:robot-arms-parking-joint-states ?robot ? | + | (-> (rob-int: |
- | (assert (btr: | + | (assert (btr: |
- | (assert (btr: | + | (true)) |
+ | | ||
+ | | ||
+ | (true))))) | ||
</ | </ | ||
Line 637: | Line 640: | ||
</ | </ | ||
- | With that resulting perceived object we perform the picking up action. With the torso so far down we might not be able to reach for the bottle, so we need to also push the torso up: | + | With that resulting perceived object we could perform the picking up action. With the torso so far down we might not be able to reach the bottle, so we need to push the torso up: |
<code lisp> | <code lisp> | ||
(pr2-proj: | (pr2-proj: | ||
(let ((? | (let ((? | ||
- | (pr2-proj:: | + | (pr2-proj:: |
</ | </ | ||
As there is no atomic motion for picking up an object, in fact, picking up is comprised of multiple move-arm motions, | As there is no atomic motion for picking up an object, in fact, picking up is comprised of multiple move-arm motions, | ||
- | so pick up is implemented within a plan and called by performing an action designator. | + | pick up is implemented within a plan and called by performing an action designator. |