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tutorials:intermediate:fetch_deliver_plans [2019/07/10 11:59] – tlippstutorials:intermediate:fetch_deliver_plans [2019/07/16 09:30] – [Low-level projection functionality] tlipps
Line 25: Line 25:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj::drive (cl-transforms-stamped:make-pose-stamped +CL-USER> (urdf-proj::drive (cl-transforms-stamped:make-pose-stamped 
-                           "map" +                            "map" 
-                           0.0 +                            0.0 
-                           (cl-transforms:make-3d-vector 0.5 0 0) +                            (cl-transforms:make-3d-vector 0.5 0 0) 
-                           (cl-transforms:make-identity-rotation)))+                            (cl-transforms:make-identity-rotation)))
 </code> </code>
                                                        
Line 35: Line 35:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj::move-torso 0.3)+CL-USER> (urdf-proj::move-torso 0.3)
 </code> </code>
  
Line 45: Line 45:
                                         (cl-tf:make-3d-vector 1.5 0.0 1.3)                                         (cl-tf:make-3d-vector 1.5 0.0 1.3)
                                         (cl-tf:make-identity-rotation)))                                         (cl-tf:make-identity-rotation)))
-CL-USER> (pr2-proj::detect (desig:an object (type cup)))+CL-USER> (urdf-proj::detect (desig:an object (type cup)))
 #<A OBJECT #<A OBJECT
     (TYPE CUP)     (TYPE CUP)