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tutorials:advanced:unreal [2020/01/13 14:29]
hawkin [Idea] added idea description
tutorials:advanced:unreal [2020/01/13 14:37] (current)
hawkin [Usage and Code] added loading of cram_ROBOT_description as a step
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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: