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tutorials:intermediate:new_actions [2019/01/02 16:31] – [Get-trajectory] vanessa | tutorials:intermediate:new_actions [2019/01/02 16:39] – [Write a Demo] vanessa | ||
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The last step is to calculate the base-to-standard-gripper-transform so that a transformation from object-to-standard-gripper to base-to-particular-gripper can be done. | The last step is to calculate the base-to-standard-gripper-transform so that a transformation from object-to-standard-gripper to base-to-particular-gripper can be done. | ||
====== Write a Demo====== | ====== Write a Demo====== | ||
+ | |||
+ | Depending on what the scenario will be a different demo has to take place. In cram/ | ||
+ | |||
+ | All that is needed: | ||
+ | |||
+ | * Launch file with all important nodes. | ||
+ | * Resources includes all .stl and .dae files from the spawned object in the scenario. | ||
+ | * Then a costmap needs to be defined. | ||
+ | * In projection-demo.lisp all the function that will be called in the demo are implemented e.g. place-object | ||
+ | * In demo.lisp the demo is written and trainings-data. |