论文标题
机器人：用于机器人操纵实验的Python库
RobotIO: A Python Library for Robot Manipulation Experiments
论文作者
论文摘要
设置机器人环境快速测试新开发的算法仍然是一个困难且耗时的过程。这给有兴趣执行现实世界机器人实验的研究人员带来了重大障碍。 Robotio是一个旨在解决此问题的Python库。它着重于为机器人，抓地力和摄像机等提供常见，简单且结构良好的Python界面。这些接口以及这些接口的实现为常见硬件提供了。此允许使用机器人的代码在不同的机器人设置上可移植。在建筑方面，Robotio旨在与Openai Gym环境以及ROS兼容。提供了这两种示例。该库与许多有用的工具一起融合在一起，例如相机校准脚本和情节记录功能，这些功能进一步支持算法开发。
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.
