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teaching:gsoc2014 [2014/02/25 14:05] – [Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet] tenorthteaching:gsoc2014 [2014/02/25 14:14] – tenorth
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 ==== CRAM -- Virtual Robot Scenarios in Gazebo ==== ==== CRAM -- Virtual Robot Scenarios in Gazebo ====
 +{{  :teaching:gsoc:open_drawer.png?nolink&150|}}
 **Main Objective:** The development of scenarios and tasks **Main Objective:** The development of scenarios and tasks
 for human-sized robots. This is done using ROS, the Gazebo robot for human-sized robots. This is done using ROS, the Gazebo robot
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 and closing drawers and doors. and closing drawers and doors.
 This involves designing virtual environments for Gazebo and/or writing robot plans in Lisp using the CRAM high-level language, sending commands to virtual PR2 or REEM(-C) robots in Gazebo, and manipulating the artificial environment in there. The connection to an elaborate high-level system holds a lot of interesting opportunities. This involves designing virtual environments for Gazebo and/or writing robot plans in Lisp using the CRAM high-level language, sending commands to virtual PR2 or REEM(-C) robots in Gazebo, and manipulating the artificial environment in there. The connection to an elaborate high-level system holds a lot of interesting opportunities.
 +{{  :teaching:gsoc:reem_standing.png?nolink&150|}}
 The produced code will, when working in a simulated environment, be run on the real robot in our laboratory and become part of the high-level behaviour library for the connected robots. The produced code will, when working in a simulated environment, be run on the real robot in our laboratory and become part of the high-level behaviour library for the connected robots.
  
 **Task Difficulty:** The difficulty depends on the environment setup and task chosen. The design of pick and place scenarios in a simple environment work towards ensuring the system's robustness, while more elaborate interaction tasks require more situational intelligence in the robot plan.\\ **Task Difficulty:** The difficulty depends on the environment setup and task chosen. The design of pick and place scenarios in a simple environment work towards ensuring the system's robustness, while more elaborate interaction tasks require more situational intelligence in the robot plan.\\
 **Requirements:** At least basic understanding in functional programming is advisable (ideally Lisp), basic knowledge in ROS helps, and ideally already having experience in simulation environments.\\ **Requirements:** At least basic understanding in functional programming is advisable (ideally Lisp), basic knowledge in ROS helps, and ideally already having experience in simulation environments.\\
 +{{  :teaching:gsoc:reem_c_sitting.png?nolink&150|}}
 **Expected Results:** We expect operational and robust **Expected Results:** We expect operational and robust
 contributions to the software library that can be used as part of a contributions to the software library that can be used as part of a
 robot's control program.} robot's control program.}
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 ==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ==== ==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ====
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Prof. Dr. hc. Michael Beetz PhD
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