PyCRAM is the Python 3 re-implementation of CRAM. PyCRAM is a toolbox for designing, implementing and deploying software on autonomous robots. The framework provides various tools and libraries for aiding in robot software development as well as geometric reasoning and fast simulation mechanisms to develop cognition-enabled control programs that achieve high levels of robot autonomy.
PyCRAM is developed in Python with support for the ROS middleware which is used for communication with different software components as well as the robot.
This framework is tested with Ubuntu 20.04, ROS Noetic and Python 3.8
PyCRAM allows the execution of the same high-level plan on different robot platforms. Below you can see an example of this where the plan is executed on the PR2 and the IAIs Boxy.
| Boxy | PR2 |
|---|---|
 |
 |
The plan that both robots execute is a relativly simple pick and place plan:
- They start at the world origin
- park their arms
- move to the counter
- observe the object
- pickup the object
- move to the kitchen island
- place the object
- move to the world origin
The code for this plan can be seen below.
@with_simulated_robot
def plan():
MotionDesignator(MoveArmJointsMotion(left_arm_config='park',
right_arm_config='park')).perform()
MotionDesignator(MoveMotion(target=moving_targets[robot_name]["sink"][0],
orientation=moving_targets[robot_name]["sink"][1])).perform()
det_obj = MotionDesignator(DetectingMotion(object_type="milk")).perform()
MotionDesignator(PickUpMotion(object=milk, arm="left", grasp="front")).perform()
MotionDesignator(MoveMotion(target=moving_targets[robot_name]["island"][0],
orientation=moving_targets[robot_name]["island"][1])).perform()
MotionDesignator(PlaceMotion(object=milk, target=[-0.9, 1, 0.93], arm="left")).perform()
MotionDesignator(MoveArmJointsMotion(left_arm_config='park',
right_arm_config='park')).perform()
MotionDesignator(MoveMotion(target=[0.0, 0.0, 0],
orientation=[0, 0, 0, 1])).perform()
For information on installing PyCRAM please check the guid on the website: Website
The documentation for the different parts of PyCRAM can be found here.
There are a handful of tutorials to get you started on using PyCRAM. These tutorials are:
- Jonas Dech [email protected]
- Andy Augsten [email protected]
- Dustin Augsten [email protected]
- Christopher Pollok [email protected]
- Thomas Lipps [email protected]
- Benjamin Alt [email protected]