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tutorials:pycram:demo [2020/07/30 08:45] – jdechtutorials:pycram:demo [2021/03/19 11:39] – [Run the PyCRAM demos] hawkin
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 ====== 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 can only be used with a real PR2 and shows how to use the ProcessModules, Motion Designator and the PyCRAM plan language.  +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 Designators and the PyCRAM plan language.  
  
 ===== Demo 1 ===== ===== Demo 1 =====
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 <code>cd ~/pycram/launch </code> <code>cd ~/pycram/launch </code>
 <code>roslaunch ik_and_description.launch</code> <code>roslaunch ik_and_description.launch</code>
 +
 +==== 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, for this to work the repo which contains the robot description has to be cloned first. 
 +
 +<code>git clone git@github.com:code-iai/iai_robots.git </code>
 +
 +Now you can choose which robot description to upload in the launch file. 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 ====