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Peter Corke edited this page Feb 28, 2021 · 2 revisions

rtbtool is a command line tool that drops you into an Python environment with some toolboxes already loaded

____ ____ ___ ____ ___ _ ____ ____ ___ ____ ____ _ ___ ____ _ _ |__/ | | |__] | | | | | [__ | | | | | | |__] | | \/ | \ |__| |__] |__| | | |___ ___] | |__| |__| |___ |__] |__| _/\_ for Python from roboticstoolbox import * from spatialmath import * func/object? - show brief help help(func/object) - show detailed help func/object?? - show source code Python 3.8.5 (default, Sep 4 2020, 02:22:02) Type 'copyright', 'credits' or 'license' for more information IPython 7.19.0 -- An enhanced Interactive Python. Type '?' for help. >>>

The import * means that you don't need to use a package prefix. Two robot models are also already imported: puma and panda

>>> puma.fkine(puma.qn) Out[1]: SE3:┏ ┓ ┃ 0 0 1 0.596 ┃ ┃ 0 1 0 -0.15 ┃ ┃-1 0 0 0.657 ┃ ┃ 0 0 0 1 ┃ ┗ ┛ >>> puma.plot(puma.qn)

Command line options

positional arguments: script specify script to run optional arguments: -h, --help show this help message and exit --backend BACKEND, -b BACKEND specify graphics backend --color COLOR, -c COLOR specify terminal color scheme (neutral, lightbg, nocolor, linux), linux is for dark mode --confirmexit CONFIRMEXIT, -x CONFIRMEXIT confirm exit --prompt PROMPT, -p PROMPT input prompt --resultprefix RESULTPREFIX, -r RESULTPREFIX execution result prefix, include {} for execution count number --noshowassign, -a do not display the result of assignments

You can provide a script which runs in the same context, ie. with those packages imported. It is also possible to set the input (--prompt) and result (--resultprefix) prompts.

--showassign, -a means that the result of an assignment

>>> T = SE3() Out[1]: SE3:┏ ┓ ┃ 1 0 0 0 ┃ ┃ 0 1 0 0 ┃ ┃ 0 0 1 0 ┃ ┃ 0 0 0 1 ┃ ┗ ┛

is displayed, when ordinarily it is not and you would have to write

>>> T = SE3() >>> T Out[2]: SE3:┏ ┓ ┃ 1 0 0 0 ┃ ┃ 0 1 0 0 ┃ ┃ 0 0 1 0 ┃ ┃ 0 0 0 1 ┃ ┗ ┛

General

Robot arms

Development (current)

OLD

Early design ideas

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