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Conflicts: src/prpy/base/mico.py
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‎.gitignore

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*.pyc
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# Generated by nosetest
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*.noseids
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# Generated by CBiRRT
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**/cmovetraj.txt

‎.travis.yml

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dist: trusty
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sudo: required
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language: generic
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cache:
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- apt
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# Install test fixture dependencies.
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before_install:
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- mkdir -p "${HOME}/workspace/src"
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- cd "${HOME}/workspace"
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- curl -sSo distribution.yml "${DISTRIBUTION}"
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- git clone https://github.com/personalrobotics/pr-cleanroom.git scripts
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- ./scripts/internal-setup.sh
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- export PACKAGE_NAMES="$(./scripts/internal-get-packages.py distribution.yml ${REPOSITORY})"
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install:
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- mv "${TRAVIS_BUILD_DIR}" src
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- ./scripts/internal-distro.py --workspace=src distribution.yml --repository "${REPOSITORY}"
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script:
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- ./scripts/internal-build.sh ${PACKAGE_NAMES}
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- travis_wait ./scripts/internal-test.sh ${PACKAGE_NAMES}
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after_script:
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- ./scripts/view-all-results.sh test_results

‎CHANGELOG.rst

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Changelog for package prpy
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^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.3.0 (2015-10-12)
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------------------
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* Added a perception pipeline (`#189 <https://github.com/personalrobotics/prpy/issues/189>`_ `#200 <https://github.com/personalrobotics/prpy/issues/200>`_)
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* Added actions (and other functionality) for the block sorting demo (`#189 <https://github.com/personalrobotics/prpy/issues/189>`_, `#194 <https://github.com/personalrobotics/prpy/issues/194>`_)
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* Added unit tests for planners (`#169 <https://github.com/personalrobotics/prpy/issues/169>`_)
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* Added helper functions for computing body point acceleration twists (`#166 <https://github.com/personalrobotics/prpy/issues/166>`_)
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* Added a common base class for trajectory exceptions and an exception for precondition violation (`#196 <https://github.com/personalrobotics/prpy/issues/196>`_)
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* Added documentation for `prpy.base.Tags` (`#193 <https://github.com/personalrobotics/prpy/issues/193>`_)
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* Added missing trajectory flags to VectorFieldPlanner (`#191 <https://github.com/personalrobotics/prpy/issues/191>`_)
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* Added UntimeTrajectory() to strip timing from trajectories (`#187 <https://github.com/personalrobotics/prpy/issues/187>`_)
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* Added ComputeEnabledAABB function
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* Added a better error message when or_ompl is missing (`#178 <https://github.com/personalrobotics/prpy/issues/178>`_)
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* Added support for OWD execution options
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* Refactored TSR and TSRChain classes (`#159 <https://github.com/personalrobotics/prpy/issues/159>`_)
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* Refactored MoveUntilTouch and fixed simulation (`#180 <https://github.com/personalrobotics/prpy/issues/180>`_ `#173 <https://github.com/personalrobotics/prpy/issues/173>`_)
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* Refactored and cleaned up the Planner and MetaPlanner base classes (`#176 <https://github.com/personalrobotics/prpy/issues/176>`_, `#162 <https://github.com/personalrobotics/prpy/issues/162>`_)
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* Refactored VectorFieldPlanner to use a numerical integrator (`#184 <https://github.com/personalrobotics/prpy/issues/184>`_)
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* Fixed acceleration limits on ADA for the MICO2 hardware upgrade (`#186 <https://github.com/personalrobotics/prpy/issues/186>`_)
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* Fixed _PlanWrapper on Manipulator to default to execute=False (`#183 <https://github.com/personalrobotics/prpy/issues/183>`_)
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* Fixed sign on tolerance in ComputeJointVelocityFromTwist (`#177 <https://github.com/personalrobotics/prpy/issues/177>`_)
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* Fixed GreedyIK planner in MoveUntilTouch (`#174 <https://github.com/personalrobotics/prpy/issues/174>`_)
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* Fixed the name of the timelimit argument in HauserParabolicSmoother
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* Fixed PostProcessPath to preserve trajectory tags
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* Removed unnecessary sleep in WAM tare command
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* Deprecated the GetVelocityLimits override on WAM (`#175 <https://github.com/personalrobotics/prpy/issues/175>`_)
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* Contributors: Anton Kuznetsov, Chris Dellin, Jennifer King, Michael Koval, Pras Velagapudi, Rachel Holladay, Shervin Javdani, Shushman, Shushman Choudhury, Siddhartha Srinivasa, Stefanos Nikolaidis, Aaron Johnson, Matt Klingsmith
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1.2.0 (2015-08-06)
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------------------
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* Add support for numpy <1.8 which don't support norm(axis=1)
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* Moved CBiRRT TSR serialization into cbirrt.py.
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* Added TSR conversion methods for JSON and YAML.
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* Added generic-object TSRs.
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* Added termcolor dependency.
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* Changed retimers to only Simplify untimed trajectories.
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* Refactored trajectory timing check into utility function.
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* Added check for deltatime without hardcoded any strings.
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* Added proper checking for trajectory timing and length.
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* Added a check within snap planner for one-waypoint trajectories.
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* Added forwarding of kwargs to TSRPlanner's delegate planner.
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* Changed default 'execute' behavior to False.
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* Added support for environment (de)serialization.
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* Added missing environment locks.
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* Added `defer` handling to the checks in ExecuteTrajectory.
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* Added several checks to the ExecuteTrajectory.
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* Jen's uncommited tweaks to the mobile base in simulation vs reality
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* Updating error handling to more correct syntax
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* Use all trajectory DOFs instead of active.
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* Changed loggers to use '__name__' instead of explicit paths.
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* Added a check within snap planner for one-waypoint trajectories.
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* Changed InstanceDeduplicator to use module-logger.
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* Changed defaults in the HauserParabolicSmoother.
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* Added HauserParabolicSmoother timelimit parameter.
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* Added more fine-grained planning exceptions.
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* Moved planning exceptions to a separate file.
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* Contributors: Aaron Johnson, Chris Dellin, Jennifer King, Michael Koval, Pras Velagapudi, Rachel Holladay
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1.1.0 (2015-06-01)
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------------------
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* Adding tags for capturing trajectory timing data

‎CMakeLists.txt

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#
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# Personal Robotics Laboratory
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# Catkin/Rosbuild Switching Template
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#
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# This CMakeLists.txt file is designed to correctly switch two CMakeLists,
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# one for rosbuild and one for catkin.
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#
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# To use this file, create two CMakeLists:
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# - catkin.cmake : the CMakeLists used in ROS catkin builds
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# - rosbuild.cmake : the CMakeLists used for ROS rosbuild builds
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#
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cmake_minimum_required(VERSION 2.8.3)
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project(prpy)
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if (DEFINED CATKIN_TOPLEVEL OR (NOT ("$ENV{ROS_DISTRO}" STREQUAL "fuerte")))
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include(${PROJECT_SOURCE_DIR}/catkin.cmake)
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else ()
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include(${PROJECT_SOURCE_DIR}/rosbuild.cmake)
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endif ()
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find_package(catkin REQUIRED)
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catkin_package()
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catkin_python_setup()
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if (CATKIN_ENABLE_TESTING)
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catkin_add_nosetests(tests)
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endif()

‎README.md

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# PrPy
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[![Build Status](https://travis-ci.org/personalrobotics/prpy.svg?branch=master)](https://travis-ci.org/personalrobotics/prpy)
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PrPy is a Python library used by the Personal Robotics Laboratory at Carnegie
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Mellon University. This library includes robot-agnostic utilities that make
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it easier to use OpenRAVE in Python scripts. This includes a high-level

‎catkin.cmake

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‎manifest.xml

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‎package.xml

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<?xml version="1.0"?>
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<package>
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<name>prpy</name>
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<version>1.1.0</version>
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<version>1.3.0</version>
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<description>
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Python utilities used by the Personal Robotics Laboratory.
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</description>
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<url type="repository">https://svn.personalrobotics.ri.cmu.edu/pr-ros-pkg/trunk/prpy</url>
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<url type="website">https://github.com/personalrobotics/prpy</url>
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<url type="bugtracker">https://github.com/personalrobotics/prpy/issues</url>
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<url type="repository">https://github.com/personalrobotics/prpy.git</url>
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<maintainer email="mkoval@cs.cmu.edu">Michael Koval</maintainer>
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<author email="mkoval@cs.cmu.edu">Michael Koval</author>
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<author email="pkv@cs.cmu.edu">Pras Velagapudi</author>
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<author email="jeking@cs.cmu.edu">Jennifer King</author>
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<author email="siddh@cs.cmu.edu">Siddhartha Srinivasa</author>
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<author email="cdellin@cs.cmu.edu">Chris Dellin</author>
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<author email="sjavdani@cmu.edu">Shervin Javdani</author>
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<author email="snikolai@andrew.cmu.edu">Stefanos Nikolaidis</author>
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>python</build_depend>
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<run_depend>python-numpy</run_depend>
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<run_depend>manipulation2</run_depend>
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<run_depend>openrave</run_depend>
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<run_depend>openrave_catkin</run_depend>
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<run_depend>python-scipy</run_depend>
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<run_depend>python-termcolor</run_depend>
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<run_depend>python-trollius</run_depend>
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<run_depend>python-rospkg</run_depend>
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<run_depend>python-yaml</run_depend>
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<run_depend>python-lxml</run_depend>
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<test_depend>python-nose</test_depend>
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<test_depend>unittest</test_depend>
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<!-- These optional dependencies cause unit tests can fail if missing. -->
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<test_depend>cbirrt2</test_depend>
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<test_depend>or_cdchomp</test_depend>
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<test_depend>or_ompl</test_depend>
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<test_depend>or_parabolicsmoother</test_depend>
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<test_depend>or_trajopt</test_depend>
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</package>

‎rosbuild.cmake

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‎setup.py

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'prpy.base',
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'prpy.planning',
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'prpy.simulation',
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'prpy.perception',
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'prpy.tsr',
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],
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package_dir={'': 'src'},

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