NEEMPyCRAMInterface

A python library for using the SQL NEEMs database (with the help of NEEMQuery) in combination with PyCRAM to be able to replay the NEEM motions or redo the executed plan in the NEEM using the PyCRAM framework.

Installation

MariaDB Installation

Make sure you have MariaDB installed on your device.

PyCRAM Installation

If you already have PyCRAM:

Step 1: Add the other fork as a new remote

git remote add multiverse https://github.com/AbdelrhmanBassiouny/pycram.git

Step 2: Fetch the branches from the other fork

git fetch multiverse

Step 3: Check out the branch from the other fork

git checkout -b multiverse_interface multiverse/multiverse_interface

If you do not have PyCRAM:

You need to have PyCRAM installed on your device,

1. clone the PyCRAM repository,
2. follow the PyCRAM installation instructions
3. checkout the 'multiverse_interface' branch.

git checkout multiverse_interface

Install NEEMPyCRAMInterface

pip install neem_pycram_interface

Example Usage

All below examples assume the neems are located in a 'test' database at 'localhost' which can be accessed by 'newuser' using password 'password'.

Replaying the motions of multiple NEEMs:

This is done by using the PyCRAMNEEMInterface class which provides a higher level of abstraction, and uses PyCRAM to replay the motions retrieved from the SQL queries. This shows the replay of three NEEMs in real time.

from neem_pycram_interface.neem_pycram_interface import PyCRAMNEEMInterface

from pycram.datastructures.enums import WorldMode
from pycram.worlds.bullet_world import BulletWorld
from pycram.ros.viz_marker_publisher import VizMarkerPublisher

pni = PyCRAMNEEMInterface('mysql+pymysql://newuser:password@localhost/test')
world = BulletWorld(mode=WorldMode.DIRECT)
vis_mark_publisher = VizMarkerPublisher()

neem_ids = [14, 15, 16]
pni.replay_motion_of_neem(neem_ids, real_time=False)

vis_mark_publisher._stop_publishing()
world.exit()

https://github.com/AbdelrhmanBassiouny/NEEMPyCRAMInterface/assets/36744004/d6179b69-6dc0-43bc-ac18-6fa237542d03

Redoing a task in a NEEM:

Similar to replaying the motions, but now we try to redo a single task using PyCRAM actions.

from neem_pycram_interface.neem_pycram_interface import PyCRAMNEEMInterface

from pycram.datastructures.enums import WorldMode
from pycram.worlds.bullet_world import BulletWorld
from pycram.ros.viz_marker_publisher import VizMarkerPublisher

pni = PyCRAMNEEMInterface('mysql+pymysql://newuser:password@localhost/test')
world = BulletWorld(mode=WorldMode.DIRECT)
vis_mark_publisher = VizMarkerPublisher()

pni.redo_grasping_action(14)

vis_mark_publisher._stop_publishing()
world.exit()