cram-scenes

Scene bundles for cram_viz, the browser-based visualization of the CRAM architecture.

Each directory is one self-contained bundle generated by cram-viz-onboard from a real coraplex demo run: URDFs (environment + robot, package:// resolved), meshes, the recorded giskardpy trajectory and the executed plan tree. index.json lists the bundles and the default scene.

These are generated artifacts — they are versioned here (and not in the CRAM repo, they are tens of MB per scene) so that any machine can clone and present without the CRAM stack installed. Re-run the onboarder to refresh a scene after a demo changes:

cram-viz-onboard path/to/demo.py --name <scene> --out path/to/cram-scenes

How the viewer finds these scenes

cram_viz looks for scene bundles in this order:

1. CRAM_VIZ_SCENES=/path/to/cram-scenes (environment variable)

2. the optional git submodule cram_viz/scenes inside the CRAM repo:

   git submodule update --init cram_viz/scenes

3. ~/.cram_viz/scenes (default; clone this repo there)

The submodule is optional on purpose: live visualization and freshly onboarded scenes work without it — it only provides ready-made demo recordings.

Scenes

scene	demo
pr2_kitchen	PR2 transporting milk/bowl/spoon (IAI apartment)
garmi_apartment	Garmi in the apartment
garmi_mobile_lab	Garmi transporting a bowl from the counter to the table (IAI KIT mobile lab, R007)