Python ArmarX - A Python Toolbox for ArmarX

This package provides Python 3 bindings for ArmarX, including client classes for common interfaces.

• Python ArmarX - A Python Toolbox for ArmarX
  • Installation
    • Using Axii
    • From Source Using Pip
  • Usage
    • Connecting to an Existing Proxy
    • Examples
    • Use armarx_control
  • Documentation

Installation

Using Axii

Add and upgrade the module armarx/python3-armarx in Axii.

Note: The module is also included in the armarx module, which is added to new workspaces by default.

axii workspace add armarx/python3-armarx
axii workspace upgrade -m armarx/python3-armarx

From Source Using Pip

To install the ArmarX Python bindings into your virtual environment:

source .venv/bin/activate
# armarx__python3_armarx__PATH = Path to python3-armarx
pip install -e $armarx__python3_armarx__PATH

The -e flag is optional. If you pass the -e flag to pip, it will install the package in editable mode, which means that you do not have to reinstall the package if you update or change the ArmarX python bindings.

Usage

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 tutorial

Documentation

See the ArmarX API documentation.