README.md

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• Foreword
• Terms and Concepts
• Structure of this Package
  • Libraries
• Usage Example
  • Connecting to an Existing Proxy
  • Examples
  • Use armarx_control
• How To

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Foreword

Python ArmarX - A Python Toolbox for ArmarX

This package provides Python 3 bindings for ArmarX, including client classes for common interfaces to core functionalities

Terms and Concepts

The main structure by this package can be illustrated like this:

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Structure of this Package

On the code level, this package contains the following libraries and components:

Libraries

• The core library with common data types and their conversions.

Usage Example

The following examples show how to connect to a proxy provided by ArmarX framework in general, as well as specialized use cases such as obtaining images, control the robot, read from and write to memory, etc.

Connecting to an Existing Proxy

Slice definitions can be loaded using the slice_loader.load_armarx_slice() function. Default values for the proxy name will also be mapped.

For proxies defined in a project's Variants-*.xml it is possible to import the interface directly.

from armarx import PlatformUnitInterfacePrx
platform_unit = PlatformUnitInterfacePrx.get_proxy('Armar6PlatformUnit')
platform_unit.moveTo(0.0, 0.0, 0.0, 50.0, 0.1)

Examples

More examples can be found in the examples folder. See also the Examples in the ArmarX Academy.

Use armarx_control

See armarx_control tutorial

How To

See the ArmarX API documentation.