benjaminalt / pycram

PyCRAM

Python 3 implementation of CRAM.

Authors

• Andy Augsten [email protected]
• Dustin Augsten [email protected]
• Jonas Dech [email protected]
• Christopher Pollok [email protected]
• Thomas Lipps [email protected]

Dependecies

To work with the Bullet World of PyCRAM the follwing packages are required.

• PyBullet
• pathlib
• numpy
• rospkg
• atexit
• urdfpy
• graphviz
• urdf-parser-py

Macropy

Additionally a specific fork of macropy is needed, which is already included in this repo as a submodule. To get this submodule just run the following commands in the Repo.

git submodule init

git submodule update

Run the Demo

Prerequisites

To run the demo one needs, all files in the resources folder along with the pr2 description and the description of the kitchen. Both descriptions should be placed in the resource directory.

Execute

To run the demo the following command has to be executed:

python3 <path-to-demo-directory>/run.py

Documentation

A complete documentation for all modules of PyCRAM can be found here. There are also a list of tutorial which explain how to setup PyCRAM and how to integrate your own robot. The tutorials can be found here