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tutorials:pycram:demo [2020/04/08 09:39] – created jdech | tutorials:pycram:demo [2021/07/01 09:37] (current) – jdech | ||
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====== Run the PyCRAM demos ====== | ====== Run the PyCRAM demos ====== | ||
- | There are two demos available for PyCRAM, the first can only be used with a real PR2 and shows how to use the ProcessModules, | + | 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 ===== |
+ | This demo shows the capabilities of the BulletWorld and its reasoning mechanisms. | ||
+ | |||
+ | ==== Setup ==== | ||
+ | To setup PyCRAM please see the tutorial at [[tutorials/ | ||
+ | |||
+ | ==== 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:// | ||
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+ | < | ||
+ | < | ||
+ | |||
+ | ==== 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 ==== | ||
+ | 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. | ||
+ | < | ||
+ | Now execute the run.py. | ||
+ | < | ||
+ | |||
+ | |||
+ | ===== Demo 2 ===== | ||
For this demo a real PR2 is needed. Furthermore, | For this demo a real PR2 is needed. Furthermore, | ||
It is meant to show what is possible with the ProcessModules, | It is meant to show what is possible with the ProcessModules, | ||
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Now the Demo can be run by simply executing the run.py srcipt. | Now the Demo can be run by simply executing the run.py srcipt. | ||
< | < | ||
- | < | ||
- | |||
- | ===== Demo 2 ===== | ||
- | Running the second demo is a bit simpler because no real PR2 is needed and the setup is a bit simpler. | ||
- | |||
- | ==== 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. | ||
- | < | ||
- | To install the required packages via pip the following command is used. | ||
- | < | ||
- | |||
- | Now the Repository needs to be cloned. This step can be skiped if the setup of the first demo was already done. | ||
- | < | ||
- | |||
- | 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. | ||
- | |||
- | The PR2 description: | ||
- | |||
- | The kitchen description: | ||
- | |||
- | ==== Run the Demo ==== | ||
- | Now that all dependencies are installed the demo can be executed. | ||
- | For this you just need to enter the pycram_pr2_bullet_world_demo in the PyCRAM repo. | ||
- | < | ||
- | Now execute the run.py. | ||
< | < | ||