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+====== 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 can only be used with a real PR2 and shows how to use the ProcessModules, Motion Designator and the PyCRAM plan language.
+===== Demo 1 =====
+This demo shows the capabilities of the BulletWorld and its reasoning mechanisms.
+==== Setup ====
+To run the demo a few packages need to be installed, they are all available via PyPi.
+If you already installed pip you can skip this, if not the pip version for Python3 can be installed with the following command.
+<code> apt install python3-pip</code>
+To install the required packages via pip the following command is used.
+<code>pip3 install pybullet pathlib numpy</code>
+Now the Repository needs to be cloned.
+<code>cd ~ && git clone https://www.github.com/cram2/pycram.git</code>
+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.
+<code>cd ~/pycram/resources</code>
+<code>git clone git@github.com:PR2/pr2_common.git</code>
+<code>git clone git@github.com:code-iai/iai_maps.git</code>
+==== Start the IK service ====
+To run the demo an external IK service is needed. To start this service a working ROS installation is needed, for a tutorial on how to install and setup ROS look [[http://wiki.ros.org/kinetic/Installation/Ubuntu|here]]
+<code>cd ~/pycram/launch </code>
+<code>roslaunch ik_and_description.launch</code>
+==== Run the Demo ====
+Now that all dependencies are installed and the IK service is running the demo can be executed.
+For this open a new terminal and enter the pycram_pr2_bullet_world_demo in the PyCRAM repository.
+<code>cd ~/pycram/demos/pycram_pr2_bullet_world_demo</code>
+Now execute the run.py.
+<code>python3 run.py</code>
+===== Demo 2 =====
+For this demo a real PR2 is needed. Furthermore, ROS1 is needed to communicate with the PR2.
+It is meant to show what  is possible with the ProcessModules, Motion Designator and PyCRAM plan language.
+==== Setup ====
+Because ROS1 works mostly with Python2 and PyCRAM is written in Python3 a virtual environment is needed.
+To setup this virtual environment a few packages need to be installed. In Ubuntu this can be done with the following command:
+<code>apt install python-pip python3-pip libbullet-dev python-virtualenv</code>
+Libbullet is needed for the ROS1 geometry2 package which is used in this demo.
+Now setup a new ROS workspace and pull the required packages.
+<code>mkdir -p ~/ros_ws/src</code>
+<code>cd ros_ws/src </code>
+<code>git clone https://www.github.com/ros/geometry</code>
+<code>git clone https://www.github.com/ros/geometry2 </code>
+<code>git clone https://www.github.com/cram2/pycram</code>
+Now the virtual environment can be created and activated.
+<code>virtualenv -p /usr/bin/python3 venv</code>
+<code>source venv/bin/activate </code>
+With the virtual environment up and running the Python ROS packages can be installed.
+This can be done via pip.
+<code> pip install -U rosdep rosinstall-generator wstool rosinstall ros-buildfarm rosdistro rospkg pyyaml catkin_pkg </code>
+==== Run the Demo ====
+Now the Demo can be run by simply executing the run.py srcipt.
+<code>cd ~/ros_ws/src/pycram/demos/pycram_pr2_demo/src</code>
+<code>python3 run.py</code>