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--- tutorials:pycram:demo [2020/04/08 09:39] – created jdech
+++ tutorials:pycram:demo [2021/07/01 09:37] (current) – jdech
@@ Line 1: / Line 1: @@
 ====== 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, Motion Designator and the PyCRAM plan language. The second one shows the usage of the BulletWorld and its reasoning mechanisms.
+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 =====
+This demo shows the capabilities of the BulletWorld and its reasoning mechanisms.
+==== Setup ====
+To setup PyCRAM please see the tutorial at [[tutorials/pycram/setup | here]].
+==== 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>
+==== 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. This can be done by editing the argument 'robot' at the top of 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 ====
+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.
@@ Line 30: / Line 59: @@
 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>
-===== 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.
-<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. This step can be skiped if the setup of the first demo was already done.
-<code>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.
-The PR2 description: https://github.com/PR2/pr2_common/tree/melodic-devel/pr2_description
-The kitchen description: https://github.com/code-iai/iai_maps/tree/master/iai_kitchen
-==== 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.
-<code>cd <path to the repo>/demos/pycram_pr2_bullet_world_demo</code>
-Now execute the run.py.
 <code>python3 run.py</code>