WAMpy is a python library for interacting with a simulated model of the Barrett WAM manipulator using OpenRAVE. WAMpy extends the robot-agnostic helper library PRpy by adding robot-specific functionality for the the WAM robot. It is based on similiar robot-specific packages like HERBpy and PR2py.

The models of the WAM arm and Segway come from the OpenRAVE package, with some changes to link names to make them compatible with code in the prpy/base classes.

This software was created by the [Personal Robotics Lab] (http://personalrobotics.ri.cmu.edu) at [Carnegie Mellon University] (http://www.cmu.edu).

Load the Barrett WAM robot model and display it in Rviz viewer.

$ roscore
$ rosrun wampy 01_WAM_arm.py

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Initialize an environment with the Barrett WAM arm on a Segway base. Grasp a Fuze drink bottle and lift it from the table. This simulation tests the functionality of planning and grasping using object-specific TSRs. The actual grasp is performed by attaching the object kinbody to the gripper kinbody.

$ roscore
$ rosrun wampy 02_WAM_Segway_grasp_object.py

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Test the OpenRAVE physics engine. The Segway base is set as a static link, so it doesn't fall over due to gravity. The Barrett WAM arm should go limp because there is no joint controller configured.

$ roscore
$ rosrun wampy 03_WAM_Segway_physics.py