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tutorials:intermediate:bullet_world [2019/07/08 17:25] – [Moving the robot in the Bullet world] gkazhoyatutorials:intermediate:bullet_world [2022/04/12 14:34] – [Bullet world initialization] schimpf
Line 153: Line 153:
                     (cram-robot-interfaces:robot ?robot)                     (cram-robot-interfaces:robot ?robot)
                     (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf ,robot-urdf))                     (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf ,robot-urdf))
-                    (cram-robot-interfaces:robot-arms-parking-joint-states ?robot ?joint-states) +                    (-> (rob-int:robot-joint-states ?robot :arm :left :park ?left-joint-states) 
-                    (assert (btr:joint-state ?world ?robot ?joint-states)) +                        (assert (btr:joint-state ?world ?robot ?left-joint-states)) 
-                    (assert (btr:joint-state ?world ?robot (("torso_lift_joint" 0.15d0)))))))+                        (true)) 
 +                    (-> (rob-int:robot-joint-states ?robot :arm :right :park ?right-joint-states) 
 +                        (assert (btr:joint-state ?world ?robot ?right-joint-states)) 
 +                        (true)))))
 </code> </code>
  
Line 642: Line 645:
 (pr2-proj:with-simulated-robot (pr2-proj:with-simulated-robot
     (let ((?perceived-bottle-desig *perceived-object*))     (let ((?perceived-bottle-desig *perceived-object*))
-      (pr2-proj::move-torso 0.3)+      (pr2-proj::move-torso 0.3)))
 </code> </code>