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tutorials:advanced:unreal [2020/01/13 14:29] – [Idea] added idea description hawkintutorials:advanced:unreal [2020/06/11 11:54] (current) – [Prerequisites] adding the source to the Episode Data/VR data hawkin
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 |knowrob_robcog github]]. If it doesn't build because dependencies are missing, please install them. If it still doesn't build, you can try to pull this fork of the knowrob_addons [[https://github.com/hawkina/knowrob_addons|knowrob_addons github]] instead. |knowrob_robcog github]]. If it doesn't build because dependencies are missing, please install them. If it still doesn't build, you can try to pull this fork of the knowrob_addons [[https://github.com/hawkina/knowrob_addons|knowrob_addons github]] instead.
 The ''knowrob_robcog'' package contains the VR-specific queries, which we need in order to be able to extract the information we need for the plans. The ''knowrob_robcog'' package contains the VR-specific queries, which we need in order to be able to extract the information we need for the plans.
 +
 +Please also download the **episode data** provided at this [[https://seafile.zfn.uni-bremen.de/d/ba524dbadfa748488d4d/|source]]. The download can take about 10 minutes, depending on your internet connection. Unzip the archive and put the **episodes** directory next to your work space. It is it's own workspace, and is ment to be layered under your working workspace. To learn more about workspace layering and on how to set it up, please refer to this [[http://wiki.ros.org/catkin/Tutorials/workspace_overlaying|tutorial]]. 
  
 === Roslaunch === === Roslaunch ===
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 </code> </code>
  
-To launch all the necessary components, simply execute: +If this is used in simulation and depending on if the PR2 or Boxy robot is supposed to be used, the respective description needs to be loaded first. 
 + 
 +For PR2: 
 +<code lisp> 
 +CL-USER>  (swank:operate-on-system-for-emacs "cram-pr2-description" (quote load-op)) 
 +</code> 
 + 
 +For Boxy: 
 +<code lisp> 
 +CL-USER>  (swank:operate-on-system-for-emacs "cram-boxy-description" (quote load-op)) 
 +</code> 
 + 
 + 
 +To launch all the necessary initializations, simply execute: 
 <code lisp> <code lisp>
 CL-USER> (kvr::init-full-simulation :namedir '("ep1") :urdf-new-kitchen? nil) CL-USER> (kvr::init-full-simulation :namedir '("ep1") :urdf-new-kitchen? nil)
 </code> </code>
  
-This will create a lisp ros node, clean up the belief-state, load the episodes that get passed to the init function as a list of strings in the ''namedir'' key parameter, e.g. in our case "ep1", spawn the semantic map of the episode and the items and initialize the location costmap. This process may take a while, so please have some patience. When the function has finished running through your bullet world should look like this: +This will create a lisp ros node, clean up the belief-state, load the episodes that get passed to the ''init'' function as a list of strings in the ''namedir'' key parameter, e.g. in our case "ep1", spawn the semantic map of the episode and the items and initialize the location costmap. This process may take a while, so please have some patience. (or go grab a coffee meanwhile. It can really take several minutes on Ubuntu 16.04.) When the function has finished running through your bullet world should look like this: 
  
 Now, let's execute the pick and place plan: Now, let's execute the pick and place plan: