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rtbtool
Peter Corke edited this page Feb 28, 2021
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rtbtool is a command line tool that drops you into an Python environment with some toolboxes already loaded
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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)
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 ┃
┗ ┛
- Frequently asked questions (FAQ)
- Documentation Style Guide
- Typing Style Guide
- Background
- Key concepts
- Introduction to robot and link classes
- Working with Jupyter
- Working from the command line
- What about Simulink?
- How to contribute
- Common Issues
- Contributors