HowTos

Table of Contents

• Working Memory
• Longterm Memory
• Older HowTos
  • Components / Ice
  • Further python examples
  • Remote GUI
  • Visualization (ArViz)
  • Robot State
  • Robot Control
  • Vision
  • Object Memory / Instances / Poses
  • Skill Framework

How Tos are either code snippets, or executable example components. Compared to tutorials, they do not offer step-by-step instructions, but show how to achieve a specific functionality.

To use an example, look at the code and try to port it to your own project. Feel free to copy, paste and adapt the code to your needs, but do not use the component or its code directly in your project (e.g. as a library).

ArmarX Memory

Working Memory

• Memory client example (C++ | Python)
• Memory server example (C++)

Try them in the scenario ArMemExample in RobotAPI.

Longterm Memory

• How to use data from the last time the robot was running on startup. "Re-load data on startup of a memory"

Older HowTos

Note

The following how tos and examples might be outdated and need to be reviewed, updated and/or extended.

Components / Ice

• rng_proxy.py (Python): Implement a component in Python, i.e. implement an Ice interface and offer it in Ice.

Further python examples

Example usages of the ArmarX Python bindings can be found here.

Remote GUI

• Remote GUI Example (C++): Create a simple GUI for changing parameters or triggering events. Part of the scenario RemoteGuiTest in ArmarXGui.
• remote_gui.py (Python): Use the Python client API of the Remote GUI.

Visualization (ArViz)

• Arviz Example (C++): Use the C++ client API of the ArmarX 3D visualization framework ArViz. Part of the scenario ArVizExample in RobotAPI.
• ArViz Interact Example (C++) Use the interactive features of ArViz.
• arviz.py (Python): Use Python client API of ArViz.
• arviz_interact.py (Python): Use the interactive features of ArViz from Python.
• arviz_sphere_mesh.py (Python): Draw custom meshes in ArViz from Python.

Robot State

• VirtualRobotReaderExampleClient (C++): Read a robot's state from the Robot State Memory using the armarx::armem::robot_state::VirtualRobotReader.
• VirtualRobotWriterExample (C++): Write a robot's state to the Robot State Memory using the armarx::armem::robot_state::VirtualRobotWriter.

Robot Control

• Making the robot move its hand in a square: Instantiate an armarx::NJointCartesianWaypointController to control the robot's TCP in task space.

Vision

• publish_images.py (Python): Publish images from Python.
• process_images.py (Python): Receive and process images in Python.
• publish_point_clouds.py (Python): Publish point clouds from Python.
• process_point_clouds.py (Python): Receive and process point clouds in Python.
• point_clouds_to_memory.py (Python): Commit (write) point clouds to the memory in Python.
• point_clouds_from_memory.py (Python): Query (read) point clouds from the memory in Python.

Object Memory / Instances / Poses

• ObjectPoseClientExample (C++): Get the current object instances from the robot's Object Memory.
• ObjectPoseProviderExample (C++): Provide localized object observations / object instances to the Object Memory.

Skill Framework

• SkillProviderExample (C++): Implement a skill and make it available in the skill framework.
• Navigation example_client (C++): Use the navigation skill / framework.