Tutorial 1

To run the tutorial, open a terminal and open 3 tabs by typing CTRL+SHIFT+T twice.

When the terminal is selected, you can select a tab by typing ALT-[1|2|3].

Starting gepetto-gui

In the first tab, type

gepetto-gui

A window opens and is ready to display the scene containing the robot. The robot and environment will appear later.

Starting hppcorbaserver

In the second tab, type

hppcorbaserver

See package hpp-corbaserver for details.

Note that gepetto-gui and hppcorbaserver executables are completely independent.

Controlling via a python terminal

In the third tab, type

python

to open an interactive python terminal.

Python 2.7.3 (default, Feb 27 2014, 20:00:17)
[GCC 4.6.3] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>>

Copy-paste the content of file script/tutorial_1.py in the python terminal.

hpp-gui window should now display a scene containing a PR2 robot in a kitchen environment.

See this page for details about the instructions of script/tutorial_1.py.