Matlab servers

Some servers to control Baxter from Matlab

Dependencies

First install:

Matlab bridge: Allows Python-Matlab communication through file synchronization
Baxter commander: Custom overlay to command Baxter
Natnet: Natnet frame receiver for Optitrack

Servers

matlab_fk

Calls the FK service of the robot and returns the result

matlab_joint_commander

Commands the joints of the Baxter from Matlab

matlab_optitrack_reader

Upon a Matlab request, read the optitrack value of a rigid body (e.g. end effector) with respect to another (e.g. world) and returns the relative pose [x, y, z, qx, qy, qz, qw] to Matlab.

Notebook for baxter_commander

To open the notebooks, type in a terminal:

cd notebooks
ipython-notebook