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tutorials:intermediate:bullet_world [2019/07/09 14:01] – [Moving the robot in the Bullet world] gkazhoyatutorials:intermediate:bullet_world [2022/04/12 14:35] – [Manipulating the kitchen] 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 223: Line 226:
  
 <code lisp> <code lisp>
-BTW-TUT> (btr:object btr:*current-bullet-world* :kitchen)+BTW-TUT> (btr:object btr:*current-bullet-world* :iai-kitchen)
 </code> </code>
  
Line 232: Line 235:
 (btr:set-robot-state-from-joints (btr:set-robot-state-from-joints
  '(("iai_fridge_door_joint"  0.3d0))  '(("iai_fridge_door_joint"  0.3d0))
- (btr:object btr:*current-bullet-world* :kitchen))+ (btr:object btr:*current-bullet-world* :iai-kitchen))    
 </code> </code>