pyRobots
Installation
> git clone git://trac.laas.fr/robots/pyrobots > cd pyrobots > python setup.py install --prefix=<your prefix>
First example
Let consider we are on the PR2, after the 'standard' initialization (TODO: link to the doc).
Start Python in interactive mode:
> python
Then:
Writing scripts
With knowledge management...
Actions
Numerous actions are currently available:
Poses management
Several positions source can be used transparently. When you have to specify a position, you can give:
- a ROS frame,
- a SPARK object (or a pair (object, part)),
- a list [x,y,z],
- a list [x,y,z,frame],
- a list [x,y,z,rx,ry,rz],
- a 3d pose + a quaternion [x,y,z,qx,qy,qz,qw]
- a dictionary (with possibly only some of the keys set) {'x':x, 'y':y, 'z':z, 'qx':qx, 'qy':qy, 'qz':qz, 'qw':qw, 'frame':frame}
When required, conversions are done automatically.
Except if you give a ROS frame (where you can explicitly specify the reference frame), all positions are understood in the global world reference.
Planning functions
Computation of hand-over waypoints
Example: