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tutorials:pycram:demo [2020/07/30 08:45] – jdechtutorials: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 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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 ==== Setup ==== ==== Setup ====
-To run the demo a few packages need to be installed, they are all available via PyPi. +To setup PyCRAM please see the tutorial at [[tutorials/pycram/setup | here]].
-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 ==== ==== Start the IK service ====
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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. 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 ==== ==== Run the Demo ====