{
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        "author": "S\u00e9verin Lemaignan",
        "author_email": "severin.lemaignan@epfl.ch",
        "bugtrack_url": null,
        "classifiers": [
            "Development Status :: 4 - Beta",
            "Intended Audience :: Science/Research",
            "License :: OSI Approved :: ISC License (ISCL)",
            "Programming Language :: Python :: 2.7",
            "Topic :: Scientific/Engineering"
        ],
        "description": "pyRobots: a toolkit for robot executive control\n===============================================\n[![DOI](https://zenodo.org/badge/983/chili-epfl/pyrobots.svg)](https://zenodo.org/badge/latestdoi/983/chili-epfl/pyrobots)\n[![Documentation Status](https://readthedocs.org/projects/pyrobots/badge/?version=latest)](http://pyrobots.readthedocs.org)\n\n`pyRobots` provides a set of Python decorators to easily turn standard functions\ninto background tasks which can be cancelled at anytime and to make your controller\n*resource aware* (no, a robot can not turn left AND right at the same time).\n\nIt also provides a event-based mechanism to monitor specific conditions and\nasynchronously trigger actions.\n\nIt finally provides a library of convenient tools to manage poses in a uniform way\n(quaternions, Euler angles and 4D matrices, I look at you) and to interface with\nexisting middlewares (ROS, naoqi, aseba...).\n\n`pyRobots` took some inspiration from the\n[URBI](https://github.com/aldebaran/urbi) language.\n\nInstallation\n------------\n\n```\n$ pip install pyRobots\n```\n\n(or, of course, from the source)\n\nMain features\n-------------\n\n- Turns any Python function into a background *action* with the decorator\n  `@action`.\n- Robot actions are non-blocking by default: they are instanciated as futures\n  (lightweight threads),\n- Actions can be cancelled at any time via signals (the `ActionCancelled` signal\n  is raised).\n- Lock specific resources with a simple `@lock(...)` in front of the actions.\n  When starting, actions will wait for resources to be available if needed.\n- Supports *compound resources* (like `WHEELS` == `LEFTWHEEL` + `RIGHTWHEEL`)\n- Create event with `robot.whenever(<condition>).do(<action>)`\n- Poses are managed explicitely and can easily be transformed from one reference\n  frame to another one (integrates with ROS TF when available).\n- Extensive logging support to debug and replay experiments.\n\nSupport for a particular robot only require to subclass `GenericRobot` for this\nrobot (and, obviously, to code the actions you want your robot to perform).\n\nDocumentation\n-------------\n\n[Head to readthedocs](http://pyrobots.readthedocs.org). Sparse for now.\n\nMinimum Working Example\n-----------------------\n\n...that includes the creation of a specific robot\n\n```python\nimport time\nfrom robots import GenericRobot\nfrom robots.decorators import action, lock\nfrom robots.resources import Resource\nfrom robots.signals import ActionCancelled\n\n# create a 'lockable' resource for our robot\nWHEELS = Resource(\"wheels\")\n\nclass MyRobot(GenericRobot):\n\n    def __init__(self):\n        super(MyRobot, self).__init__()\n\n        # create (and set) one element in the robot's state. Here a bumper.\n        self.state.my_bumper = False\n\n        # do whatever other initialization you need :-)\n\n    def send_goal(self, pose):\n        # move your robot using your favorite middleware\n        print(\"Starting to move towards %s\" % pose)\n\n    def stop(self):\n        # stop your robot using your favorite middleware\n        print(\"Motion stopped\")\n\n    def whatever_lowlevel_method_you_need(self):\n        pass\n\n@lock(WHEELS)\n@action\ndef move_forward(robot):\n    \"\"\" We write action in a simple imperative, blocking way.\n    \"\"\"\n\n    # the target pose: simply x += 1.0m in the robot's frame. pyRobots\n    # will handle the frames transformations as needed.\n    target = [1.0, 0., 0., \"base_link\"]\n\n    try:\n        robot.send_goal(target)\n\n        while(robot.pose.distance(robot.pose.myself(), target) > 0.1):\n            # robot.sleep is exactly like time.sleep, except it lets the pyrobots\n            # signals pass through.\n            robot.sleep(0.5)\n\n        print(\"Motion succeeded\")\n\n    except ActionCancelled:\n        # if the action is cancelled, clean up your state\n        robot.stop()\n\n\nwith MyRobot() as robot:\n\n    # Turn on DEBUG logging.\n    # Shortcut for logging.getLogger(\"robots\").setLevel(logging.DEBUG)\n    robot.debug()\n\n    robot.whenever(\"my_bumper\", value = True).do(move_forward)\n\n    try:\n        while True:\n            time.sleep(0.5)\n    except KeyboardInterrupt:\n        pass\n\n```\n\n",
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