1 ArmarX Packages

This page provides you with an overview over the packages that are part of Armarx. Alternatively, you can have a look at what is available via Axii, in its module database. Additional module databases exist, for example, for projects. These are not documented here, as they are not part of the canonical ArmarX framework.

By Architecture Layer

The software architecture of ArmarX (see Architecture):

Software architecture of ArmarX. From top to bottom: Application layer (containing API, Skills, Applications), Robot Framework Layer (containing Vision, Skills, Robot API, Memory), Middleware Layer (Containing Communication, Deployment, Monitoring). Below these, either the Simulator or the ArmarX Realtime together with the Robot are located. At the side, Tools span from top to bottom.

Application Layer

  • API
  • Applications
    • see ArmarX Integration
  • Skills
    • Robot-specific and project-specific skills

Robot Framework Layer

  • Memory
    • see RobotAPI and Python3 ArmarX
  • RobotAPI
  • Skills
    • audio
    • control
    • human_robot_interaction
    • localization_and_mapping
    • manipulation
    • mobile-manipulation
    • navigation
    • programming_by_demonstration
    • robot_placement
    • speech
    • symbolic_planning
    • view_selection
    • vision
  • Vision
    • VisionX

Middleware Layer

  • Communication
    • see ArmarXCore
  • Deployment
    • see ArmarXCore
  • Monitoring
    • see ArmarXCore

Simulator, ArmarX Realtime, Robot

Tools

By Workspace Structure

armarx (core of ArmarX)

  • ArmarXCore
  • ArmarXGui
  • ArmarXSimulation
  • core
    • ArViz Godot
    • Python3-ArmarXCtl
  • MemoryX
  • Python3 ArmarX
  • RobotAPI
  • RobotComponents
  • RobotSkillTemplates
  • skills
    • audio
    • control
    • human_robot_interaction
    • kinesthetic_learning
    • localization_and_mapping
    • manipulation
    • mobile-manipulation
    • movement_primitive_library
    • navigation
    • observational_learning
    • programming_by_demonstration
    • robot_placement
    • speech
    • symbolic_planning
    • view_selection
    • vision
  • VisionX

armarx_integration (interfacing third-party code with ArmarX)

Refer to the respective folder of the Axii module database to also see the integration not only of devices and robots, but of external software.

deps (dependencies)

These packages are not part of ArmarX. Refer to the respective folder of the Axii module database for an overview.

h2t (private H2T repositories)

  • e.g., PriorKnowledgeData

Tools

These packages are not part of ArmarX. Refer to the respective folder of the Axii module database for an overview.

Independent packages

  • DMP
  • MMM
  • IVT
  • MPLib
  • SemanticObjectRelations
  • Simox
  • SimoxControl