Underworlds: Geometric & Temporal Representation for Robots
Underworlds is a distributed and lightweight framework that aims at sharing between clients parallel models of the physical world surrounding a robot.
The clients can be geometric reasoners (that compute topological relations between objects), motion planner, event monitors, viewers... any software that need to access a geometric (based on 3D meshes of objects) and/or temporal (based on events) view of the world.
One of the main specific feature of Underworlds is the ability to store many parallel worlds: past models of the environment, future models, models with some objects filtered out, models that are physically consistent, etc.
This package provides the library, and a small set of core clients that are useful for inspection and debugging.
Please refer to the installation documentation.
Running the unit-tests
Underworlds provides a few unit-tests. Run them with:
> cd testing > ./run_test.py
Head to readthedocs. Sparse for now.
underworldsis one of the child of LAAS'
- The situation assessment framework
toasteris another child of SPARK, developed at LAAS
- M. Naef, E. Lamboray, O. Staadt, and M. Gross, The blue-c distributed scene graph
- Bustos, Pablo, et al. A Unified Internal Representation of the Outer World for Social Robotics. Robot 2015: Second Iberian Robotics Conference. Springer International Publishing, 2016.