Real Robot Control

For controlling real robots and simulation interfaces, see:

• Interfaces - Robot interfaces API reference

Scikit-robot provides interfaces for:

ROS Interface

Control ROS-enabled robots:

from skrobot.interfaces.ros import ROSRobotInterfaceBase

class MyRobotInterface(ROSRobotInterfaceBase):
    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)

ri = MyRobotInterface(robot)
ri.angle_vector(target_av, time=3.0)
ri.wait_interpolation()

PyBullet Interface

Simulate robots in PyBullet:

from skrobot.interfaces._pybullet import PybulletRobotInterface

ri = PybulletRobotInterface(robot)
ri.angle_vector(target_av, time=2.0)
ri.wait_interpolation()

The same code works for both simulation and real robots, making it easy to develop and test in simulation before deploying to hardware.