====== Modeling and generating constraint-based movement descriptions ====== This page contains supplemental material for the paper "{{:bib:tenorth14motiontemplates.pdf|Knowledge-based Specification of Robot Motions}}" at ECAI 2014.

===== Software components ===== The setup of the system consists of three main components: the KnowRob knowledge base, the CRAM plan-based executive, and the controllers for performing the motions. Here, we will give instructions how these components can be installed and set up correctly. ==== KnowRob setup ==== You will need the "Developer setup" of KnowRob as described in the [[/installation|installation guide]]. In addition to the steps explained here, you will need to compile the package containing the models and code for the constraint-based motion descriptions by calling rosmake knowrob_motion_constraints After the installation, try out the [[/doc/knowrob_basics|KnowRob Basics tutorial]] to make sure that the system is operational. ==== CRAM setup ==== General install instructions for CRAM can be found at [[http://cram-system.org/installation]]. You will additionally need the following CRAM repositories: https://github.com/cram-code/cram_demo (package: cram_pr2_fccl_demo) https://github.com/cram-code/cram_bridge (package: cram_fccl) More instructions to come. For the time being, please contact us via e-mail for further details. Please excuse the incomplete state of instructions. ==== Controller setups ==== Source code for the constraint controller can be found here: https://github.com/airballking/fccl More instructions to come. For the time being, please contact us via e-mail for further details. Please excuse the incomplete state of instructions. ===== Usage instructions ===== To come.