This is the "Robot Model Tools" Python package.

The modules in the robmodel package represent different aspects of articulated robot models, such as connectivity, numbering scheme of the links, attached frames, geometry, etc.

The rmt package implements a command line program that operates on robot models, such as the URDF or the KinDSL formats. See

rmt --help

for a list of the available sub commands.

You can try the program without installing this repository (although you still need to install the dependencies):

cd src/
./runner.py --help

Code documentation

More information about the packages and the modules of this project is available in the source code.

You can generate e.g. html documentation using pdoc. For example:

cd src/
pdoc --no-show-source -o /tmp/docs/rmt rmt/ robmodel/

Installation

pip install rmt

Alternatively, install from the source tree:

git clone <repo> rmt    # replace <repo> with the right URL
cd rmt/
pip install .

Dependencies

The following libraries are used by this project:

• kgprim kinematics/geometric primitives

• NetworkX, for the connectivity model, which is a graph

• NumPy

Optionally:

• textX, for the KinDSL format importer

• PyYAML, to import YAML models

• Mako, for the export of models to other formats (which involves text generation)

• PyGraphviz, required only by the DOT file generator command of the rmt tool

Testing

To launch some tests to validate your installation, move to the test/ folder and run

python -m sample_models.ur5
python -m sample_models.hyq

License

© 2019-present, Marco Frigerio

Released under the BSD 3-clause license. See the LICENSE file for additional information.