RobotIO: A Python Library for Robot Manipulation Experiments

Setting up robot environments to quickly test newly developed algorithms is still a difficult and time consuming process. This presents a significant hurdle to researchers interested in performing real-world robotic experiments. RobotIO is a python library designed to solve this problem. It focuses...

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Bibliographic Details
Main Authors Hermann, Lukas, Argus, Max, Roefer, Adrian, Valada, Abhinav, Brox, Thomas
Format Journal Article
LanguageEnglish
Published 27.07.2022
Subjects
Computer Science - Robotics
Online AccessGet full text
DOI10.48550/arxiv.2207.13591

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Summary:Setting up robot environments to quickly test newly developed algorithms is still a difficult and time consuming process. This presents a significant hurdle to researchers interested in performing real-world robotic experiments. RobotIO is a python library designed to solve this problem. It focuses on providing common, simple, and well structured python interfaces for robots, grippers, and cameras, etc. These are provided with implementations of these interfaces for common hardware. This enables code using RobotIO to be portable across different robot setups. In terms of architecture, RobotIO is designed to be compatible with OpenAI gym environments, as well as ROS; examples of both of these are provided. The library comes together with a number of helpful tools, such as camera calibration scripts and episode recording functionality that further support algorithm development.
DOI:10.48550/arxiv.2207.13591