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--- tutorials:advanced:unreal [2020/01/13 14:29] – [Idea] added idea description hawkin
+++ tutorials:advanced:unreal [2020/01/13 14:37] – [Usage and Code] added loading of cram_ROBOT_description as a step hawkin
@@ Line 38: / Line 38: @@
 </code>
-To launch all the necessary components, simply execute:
+If this is used in simulation and depending on if the PR2 or Boxy robot is supposed to be used, the respective description needs to be loaded first.
+For PR2:
+<code lisp>
+CL-USER>  (swank:operate-on-system-for-emacs "cram-pr2-description" (quote load-op))
+</code>
+For Boxy:
+<code lisp>
+CL-USER>  (swank:operate-on-system-for-emacs "cram-boxy-description" (quote load-op))
+</code>
+To launch all the necessary initializations, simply execute:
 <code lisp>
 CL-USER> (kvr::init-full-simulation :namedir '("ep1") :urdf-new-kitchen? nil)
 </code>
-This will create a lisp ros node, clean up the belief-state, load the episodes that get passed to the init function as a list of strings in the ''namedir'' key parameter, e.g. in our case "ep1", spawn the semantic map of the episode and the items and initialize the location costmap. This process may take a while, so please have some patience. When the function has finished running through your bullet world should look like this:
+This will create a lisp ros node, clean up the belief-state, load the episodes that get passed to the ''init'' function as a list of strings in the ''namedir'' key parameter, e.g. in our case "ep1", spawn the semantic map of the episode and the items and initialize the location costmap. This process may take a while, so please have some patience. (or go grab a coffee meanwhile. It can really take several minutes on Ubuntu 16.04.) When the function has finished running through your bullet world should look like this:
 Now, let's execute the pick and place plan: