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tutorials:pycram:bullet_world [2022/06/16 08:52] – [General] jdechtutorials:pycram:bullet_world [2022/09/06 13:06] – jdech
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 ====== PyCRAM Bullet World Tutorial ====== ====== PyCRAM Bullet World Tutorial ======
 +Before you can work with PyCRAM you have to provide it with a robot description, so PyCRAM knows which robot is currently used. This can be done via the ROS launchfile in the launch directory. This launchfile contains an argument that specifies which robot urdf should be uploaded as the description. 
 +To launch the ROS launchfile just execute the following command:
 +<code>
 +roslaunch pycram ik_and_description.launch 
 +</code>
 +
 ===== General ===== ===== General =====
 The BulletWorld is PyCRAMs internal physics simulation which is used for geometric reasoning as well as executing the robot control plans. For a detailed description as well as a documentation of the API please look in the corresponding docu [[doc/pycram/bulletworld|here]]. The BulletWorld is PyCRAMs internal physics simulation which is used for geometric reasoning as well as executing the robot control plans. For a detailed description as well as a documentation of the API please look in the corresponding docu [[doc/pycram/bulletworld|here]].