mainpage.dox

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\mainpage

HerbPy is a Python library for interacting with HERB through OpenRAVE. HERB is
a bimanual mobile manipulator designed and built by the <a
href="https://personalrobotics.ri.cmu.edu">Personal Robotics Lab</a> at <a
href="http://www.cmu.edu">Carnegie Mellon University</a>. HerbPy expands the
robot-agnostic helper library PrPy by wrapping HERB-specific functionality.

<h1>Running HerbPy</h1>
You use HerbPy in your script by simply calling the <code>initialize</code>
function:

\code{.py}
env, robot = herbpy.initialize()
\endcode

By default, this function loads the OpenRAVE plugins necessary to communicate
with HERB's hardware drivers. You can run HerbPy in simulation mode by passing
the option \p sim=True. In both cases, you can optionally attach a
viewer to the OpenRAVE environment by passing \p attach_viewer=True.

See \ref herbpy.herb.initialize for the full list of initialization options.

<h1>HerbPy Console</h1>
HerbPy includes \ref console.py, a helper script for launching an interactive
Python environment. Several common \ref herbpy.herb.initialize options are
exposed as command-line arguments:

\code{.sh}
rosrun herbpy console.py
rosrun herbpy console.py --sim     # equivalent to sim=True
rosrun herbpy console.py --viewer  # equivalent to attach_viewer=True
\endcode


<h1>Using HERBRobot</h1>
The robot returned by \ref herbpy.herb.initialize is an OpenRAVE robot of type
\ref herbpy.herbrobot.HERBRobot. This object provides access to all of HERB's
hardware-specific functionality:

<ul>
<li>\p left_arm, \p right_arm : \ref herbpy.wam.WAM - Barrett WAM arms</li>
<li>\p left_hand, \p right_hand : \ref prpy.base.barretthand.BarrettHand - BarrettHand end-effectors</li>
<li>\p head : \ref herbpy.herbpantilt.HERBPantilt - custom pan-tilt head</li>
<li>\p base : \ref herbpy.herbbase.HerbBase - Segway RMP mobile base</li>
</ul>

You can browse the API documentation for each of these classes for more
detailed information.

<h1>Examples</h1>
\todo Copy the <a href="https://wiki.personalrobotics.ri.cmu.edu/lib/exe/fetch.php?media=tutorials:herbpy_tutorial.pdf">HerbPy tutorial</a> into this Doxygen page.

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