A framework for geometric and temporal representation of robotic worlds
underworlds is a distributed and lightweight framework that facilitates building and sharing models of the physical world surrounding a robot amongst independent software modules.
These modules can be for instance 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 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 underworlds server, a Python client library, and a set of tools to interact with the system (viewers, scene loader, ROS bridge, etc.).
A handful of useful example applications are also provided, like skeleton tracking (using OpenNI) or visibility tracking.
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