Python 3 implementation of CRAM.
- Andy Augsten a.augsten@uni-bremen.de
- Dustin Augsten augsten@uni-bremen.de
- Jonas Dech jdech@uni-bremen.de
- Christopher Pollok cpollok@uni-bremen.de
- Thomas Lipps tlipps@uni-bremen.de
To work with the Bullet World of PyCRAM the follwing packages are required.
- PyBullet
- pathlib
- numpy
- rospkg
- atexit
- urdfpy
- graphviz
- urdf-parser-py
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
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.
To run the demo the following command has to be executed:
python3 <path-to-demo-directory>/run.py
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