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.

pip install neem_pycram_interface

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

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)