Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
tutorials:pycram:demo [2020/07/30 08:45] – jdech | tutorials:pycram:demo [2021/07/01 09:37] (current) – jdech | ||
---|---|---|---|
Line 1: | Line 1: | ||
====== Run the PyCRAM demos ====== | ====== Run the PyCRAM demos ====== | ||
- | There are two demos available for PyCRAM, the first shows the usage of the BulletWorld and its reasoning mechanisms. The Second | + | There are two demos available for PyCRAM, the first shows the usage of the BulletWorld and its reasoning mechanisms. The second |
===== Demo 1 ===== | ===== Demo 1 ===== | ||
Line 6: | Line 6: | ||
==== Setup ==== | ==== Setup ==== | ||
- | To run the demo a few packages need to be installed, they are all available via PyPi. | + | To setup PyCRAM please see the tutorial at [[tutorials/pycram/setup | here]]. |
- | If you already installed pip you can skip this, if not the pip version for Python3 can be installed with the following command. | + | |
- | < | + | |
- | To install the required packages via pip the following command is used. | + | |
- | < | + | |
- | + | ||
- | Now the Repository needs to be cloned. | + | |
- | < | + | |
- | + | ||
- | This demo needs the models of the PR2 and the kitchen of the Institute of Artificial Intelligence. | + | |
- | They need to be in the resources directory in the PyCRAM repo. | + | |
- | + | ||
- | < | + | |
- | < | + | |
- | < | + | |
==== Start the IK service ==== | ==== Start the IK service ==== | ||
Line 28: | Line 13: | ||
< | < | ||
< | < | ||
+ | |||
+ | ==== Choose the robot ==== | ||
+ | The launchfile in the previous section included a robot description of the PR2. But the demo can also use the Boxy robot of the Institute of Artificial Intelligence, | ||
+ | |||
+ | < | ||
+ | |||
+ | Now you can choose which robot description to upload in the launch file. This can be done by editing the argument ' | ||
+ | |||
+ | Note, in order for ROS to be able to find the robot description you have to build the iai_robots repo using catkin. | ||
==== Run the Demo ==== | ==== Run the Demo ==== |