|
+ view_focalLength() (robotic.ry.Config method)
+
|
- view_getScreenshot() (robotic.ry.Config method)
@@ -758,6 +762,8 @@
V
- view_play() (robotic.ry.KOMO method)
- view_playVideo() (robotic.ry.Config method)
+
+ - view_pose() (robotic.ry.Config method)
- view_recopyMeshes() (robotic.ry.Config method)
diff --git a/docs/index.html b/docs/index.html
index cf848e2..72a7b51 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -96,7 +96,7 @@ Robotic Control Interface & Manipulation Planning LibraryTutorials
- Basics on Configurations, BotOp & KOMO
@@ -109,6 +109,7 @@
Config.view()Config.view_close()Config.view_focalLength()Config.view_getScreenshot()Config.view_playVideo()Config.view_pose()Config.view_recopyMeshes()Config.watchFile()Config.write()Robotic Control Interface & Manipulation Planning Librarycompiled()
getStartGoalPath()params_add()params_clear()params_file()params_print()raiPath()Config.stepDynamics()Config.view()Config.view_close()Config.view_focalLength()Config.view_getScreenshot()Config.view_playVideo()Config.view_pose()Config.view_recopyMeshes()Config.watchFile()Config.write()compiled()getStartGoalPath()params_add()params_clear()params_file()params_print()raiPath()close the view
+-
+view_focalLength(self: robotic.ry.Config) → float
+return the focal length of the view camera (only intrinsic parameter)
+
+
-
view_getScreenshot(self: robotic.ry.Config) → numpy.ndarray[numpy.uint8]
@@ -759,6 +768,12 @@
view_playVideo(self: robotic.ry.Config, delay: float = 1.0, saveVideoPath: str = None) → None
+
+-
+view_pose(self: robotic.ry.Config) → arr
+return the 7D pose of the view camera
+
+
-
view_recopyMeshes(self: robotic.ry.Config) → None
@@ -1053,7 +1068,7 @@
class robotic.ry.ImpType
Members:
closeGripper
-openGripper
+moveGripper
depthNoise
rgbNoise
adversarialDropper
@@ -1697,7 +1712,8 @@
-
getState(self: robotic.ry.Simulation) → tuple
-
+returns a 4-tuple or frame state, joint state, frame velocities (linear & angular), joint velocities
+
-
@@ -1726,7 +1742,7 @@
-
-pushConfigurationToSimulator(self: robotic.ry.Simulation, frameVelocities: arr = [], jointVelocities: arr = []) → None
+pushConfigurationToSimulator(self: robotic.ry.Simulation, frameVelocities: arr = array(0.0078125), jointVelocities: arr = array(0.0078125)) → None
set the simulator to the full (frame) state of the configuration
@@ -1743,7 +1759,7 @@
-
-setState(self: robotic.ry.Simulation, frameState: arr, frameVelocities: arr = [], jointState: arr = [], jointVelocities: arr = []) → None
+setState(self: robotic.ry.Simulation, frameState: arr, jointState: arr = array(0.0078125), frameVelocities: arr = array(0.0078125), jointVelocities: arr = array(0.0078125)) → None
@@ -1795,6 +1811,12 @@
add/set parameters
+
+-
+robotic.ry.params_clear() → None
+clear all parameters
+
+
-
robotic.ry.params_file(arg0: str) → None
diff --git a/docs/searchindex.js b/docs/searchindex.js
index 9a780c4..345d70a 100644
--- a/docs/searchindex.js
+++ b/docs/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["getting_started", "index", "old/_Array", "old/_Configuration", "old/_ConfigurationFiles", "old/_Graph", "old/_Simulation", "old/komo", "old/old", "old/simlab", "old/simlab1", "old/simlab2", "old/simlab3", "old/simlab4", "old/simlab5", "old/skeleton", "rai", "script/script", "tutorials", "tutorials/1a-configurations", "tutorials/1b-botop", "tutorials/1c-komo", "tutorials/1d-real", "tutorials/botop3-vision", "tutorials/botop3-vision-toBeMerged", "tutorials/botop4-examples", "tutorials/cameraview", "tutorials/configurationEditing", "tutorials/features", "tutorials/komo-reporting", "tutorials/komo1-IK-toBeMerged", "tutorials/komo2-PathOptimization-toBeMerged", "tutorials/komo3-switches-skeletons", "tutorials/opt1-basics", "tutorials/script5-PathFind", "tutorials/simulation"], "filenames": ["getting_started.rst", "index.rst", "old/_Array.rst", "old/_Configuration.rst", "old/_ConfigurationFiles.rst", "old/_Graph.rst", "old/_Simulation.rst", "old/komo.rst", "old/old.rst", "old/simlab.rst", "old/simlab1.rst", "old/simlab2.rst", "old/simlab3.rst", "old/simlab4.rst", "old/simlab5.rst", "old/skeleton.rst", "rai.rst", "script/script.rst", "tutorials.rst", "tutorials/1a-configurations.ipynb", "tutorials/1b-botop.ipynb", "tutorials/1c-komo.ipynb", "tutorials/1d-real.ipynb", "tutorials/botop3-vision.ipynb", "tutorials/botop3-vision-toBeMerged.ipynb", "tutorials/botop4-examples.ipynb", "tutorials/cameraview.ipynb", "tutorials/configurationEditing.ipynb", "tutorials/features.ipynb", "tutorials/komo-reporting.ipynb", "tutorials/komo1-IK-toBeMerged.ipynb", "tutorials/komo2-PathOptimization-toBeMerged.ipynb", "tutorials/komo3-switches-skeletons.ipynb", "tutorials/opt1-basics.ipynb", "tutorials/script5-PathFind.ipynb", "tutorials/simulation.ipynb"], "titles": ["Getting Started", "Robotic Control Interface & Manipulation Planning Library", "Array", "Configuration", ".g-files to describe robot configurations", "Graph and .g-files", "Simulation", "Learning KOMO (K-Order Markov Optimization)", "Old Material", "Lab Course in Simulation", "SimLab Exercise 1 - Basic Setup", "SimLab Exercise 2 - Motion", "SimLab Exercise 3 - OpenCV", "SimLab Exercise 4 - Grasp", "SimLab - Project Proposal and Final Presentation", "Learning about Skeletons & LGP", "rai python API", "Lecture Script", "Tutorials", "Configurations", "Robot Operation (BotOp) interface", "KOMO: Motion Optimization", "Starting with a real robot", "First example to grap images from a webcam", "<no title>", "Example for grasping in Sim", "CameraView and Rendering [todo]", "Importing, Editing & Manipulating Configurations", "Differentiable Features & Collision Evaluation", "KOMO: Reporting & Explaining Convergence", "Inverse Kinematics as Optimization (to be merged)", "Path Optimization (to be merged)", "Advanced: Switches & Skeletons", "Optimization (NLP formulation and solving)", "Path finding example", "Direct Simulation Interface"], "terms": {"robot": [0, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 21, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34], "python": [0, 1, 4, 5, 7, 10, 11, 12, 17, 20, 24, 25, 27, 28, 35], "packag": [0, 4, 7, 14, 17, 22, 27], "On": [0, 19], "standard": [0, 5, 6, 12, 17, 30, 31], "ubuntu": [0, 14, 17], "follow": [0, 3, 4, 6, 7, 10, 13, 14, 17, 18, 20, 21, 22, 27, 28, 29], "should": [0, 3, 4, 6, 7, 10, 11, 14, 16, 17, 21, 22, 27, 28, 29, 35], "suffici": [0, 17], "sudo": [0, 17], "apt": [0, 17], "liblapack3": [0, 17], "freeglut3": [0, 17], "libglew": [0, 17], "dev": [0, 17], "python3": [0, 17, 24], "pip": [0, 17], "m": [0, 3, 17], "user": [0, 3, 6, 7, 9, 16, 17, 19, 20], "numpi": [0, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 29, 30, 31, 32, 33, 35], "scipi": [0, 17], "A": [0, 3, 4, 5, 6, 7, 13, 14, 19, 21, 22, 25, 28, 30, 35], "test": [0, 4, 5, 8, 10, 11, 12, 17, 18, 21, 29, 35], "i": [0, 1, 3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 34, 35], "c": [0, 1, 2, 4, 5, 7, 8, 12, 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"alltitles": {"Robotic Control Interface & Manipulation Planning Library": [[1, "robotic-control-interface-manipulation-planning-library"]], "Contents:": [[1, null]], "Indices and tables": [[1, "indices-and-tables"]], "Array": [[2, "array"]], ".g-files to describe robot configurations": [[4, "g-files-to-describe-robot-configurations"]], "Editing using kinEdit": [[4, "editing-using-kinedit"], [17, "editing-using-kinedit"]], "Import from URDF": [[4, "import-from-urdf"], [17, "import-from-urdf"]], "Notation to specify transformations": [[4, "notation-to-specify-transformations"], [17, "notation-to-specify-transformations"]], "Joint types": [[4, "joint-types"], [17, "joint-types"]], "Graph and .g-files": [[5, "graph-and-g-files"]], "Learning KOMO (K-Order Markov Optimization)": [[7, "learning-komo-k-order-markov-optimization"]], "No dynamics? No velocities? How do you solve for dynamic problems?": [[7, "no-dynamics-no-velocities-how-do-you-solve-for-dynamic-problems"]], "What is KOMO?": [[7, "what-is-komo"]], "What is KOMO \u2013 formally?": [[7, "what-is-komo-formally"]], "What are the main steps to define a KOMO problem?": [[7, "what-are-the-main-steps-to-define-a-komo-problem"]], "Roughly, what does KOMO do with these specs?": [[7, "roughly-what-does-komo-do-with-these-specs"]], "Can KOMO only optimize paths?": [[7, "can-komo-only-optimize-paths"]], "Can I load an URDF?": [[7, "can-i-load-an-urdf"]], "First practical steps": [[7, "first-practical-steps"]], "Lesson 1: play around with $RAI/test/KOMO/tutorial": [[7, "lesson-1-play-around-with-rai-test-komo-tutorial"]], "Lesson 2: Learn the addObjective method and the \u201cLanguage of Features\u201d": [[7, "lesson-2-learn-the-addobjective-method-and-the-language-of-features"]], "Features are at the core": [[7, "features-are-at-the-core"]], "Varying decision variables per time slice: kinematic switches & force contacts": [[7, "varying-decision-variables-per-time-slice-kinematic-switches-force-contacts"]], "Summary: there are only a few fundamental methods in KOMO, the rest are helpers": [[7, "summary-there-are-only-a-few-fundamental-methods-in-komo-the-rest-are-helpers"]], "Steps, phase, real time, and time optimization": [[7, "steps-phase-real-time-and-time-optimization"]], "LINKS to more documentation": [[7, "links-to-more-documentation"]], "Old Material": [[8, "old-material"]], "Lab Course in Simulation": [[9, "lab-course-in-simulation"]], "SimLab Exercise 1 - Basic Setup": [[10, "simlab-exercise-1-basic-setup"]], "a) Code Setup": [[10, "a-code-setup"]], "b) Git Setup": [[10, "b-git-setup"]], "c) Rough familiarity with Simulation and Configuration": [[10, "c-rough-familiarity-with-simulation-and-configuration"]], "SimLab Exercise 2 - Motion": [[11, "simlab-exercise-2-motion"]], "a) Basic IK": [[11, "a-basic-ik"]], "b) Path Optimization & velocity/acceleration objectives": [[11, "b-path-optimization-velocity-acceleration-objectives"]], "c) Explore collision features, and enforce touch": [[11, "c-explore-collision-features-and-enforce-touch"]], "d) Interacting with \u201creal\u201d objects": [[11, "d-interacting-with-real-objects"]], "e) Advanced: Tricky use of inequalities, scaling, and target": [[11, "e-advanced-tricky-use-of-inequalities-scaling-and-target"]], "f) Advanced: Reactive Operational Space Control": [[11, "f-advanced-reactive-operational-space-control"]], "SimLab Exercise 3 - OpenCV": [[12, "simlab-exercise-3-opencv"]], "a) OpenCV - color-based tracking": [[12, "a-opencv-color-based-tracking"]], "b) OpenCV - background substraction": [[12, "b-opencv-background-substraction"]], "SimLab Exercise 4 - Grasp": [[13, "simlab-exercise-4-grasp"]], "a) Grasp, lift & drop a hopping ball": [[13, "a-grasp-lift-drop-a-hopping-ball"]], "b) Throw the ball": [[13, "b-throw-the-ball"]], "c) Bonus: \u2026and for a box": [[13, "c-bonus-and-for-a-box"]], "SimLab - Project Proposal and Final Presentation": [[14, "simlab-project-proposal-and-final-presentation"]], "Project Proposal": [[14, "project-proposal"]], "Presentation Details": [[14, "presentation-details"]], "Learning about Skeletons & LGP": [[15, "learning-about-skeletons-lgp"]], "What is LGP?": [[15, "what-is-lgp"]], "Example Skeletons": [[15, "example-skeletons"]], "rai python API": [[16, "module-robotic.ry"]], "Configurations": [[19, "Configurations"]], "Adding frames to a configuration": [[19, "Adding-frames-to-a-configuration"]], "Loading existing configurations": [[19, "Loading-existing-configurations"]], "Features: computing geometric properties": [[19, "Features:-computing-geometric-properties"]], "Joint and Frame State": [[19, "Joint-and-Frame-State"]], "View interaction and releasing objects": [[19, "View-interaction-and-releasing-objects"]], "Robot Operation (BotOp) interface": [[20, "Robot-Operation-(BotOp)-interface"]], "KOMO: Motion Optimization": [[21, "KOMO:-Motion-Optimization"]], "Minimal IK example": [[21, "Minimal-IK-example"]], "Example for more constraints: box grasping IK": [[21, "Example-for-more-constraints:-box-grasping-IK"]], "Waypoints example": [[21, "Waypoints-example"]], "Path example": [[21, "Path-example"]], "Starting with a real robot": [[22, "Starting-with-a-real-robot"]], "First robot motion, camera & pcl, and gripper motion": [[22, "First-robot-motion,-camera-&-pcl,-and-gripper-motion"]], "Advanced: Compliance & Force/Torque feedback": [[22, "Advanced:-Compliance-&-Force/Torque-feedback"]], "First example to grap images from a webcam": [[23, "First-example-to-grap-images-from-a-webcam"]], "2. Example to convert simulated RGB-D images into point clouds": [[23, "2.-Example-to-convert-simulated-RGB-D-images-into-point-clouds"]], "3. example to use multiple camera attached to different robot frames": [[23, "3.-example-to-use-multiple-camera-attached-to-different-robot-frames"]], "Example for grasping in Sim": [[25, "Example-for-grasping-in-Sim"]], "Example for pushing in sim": [[25, "Example-for-pushing-in-sim"]], "CameraView and Rendering [todo]": [[26, "CameraView-and-Rendering-[todo]"]], "Rendering configurations": [[26, "Rendering-configurations"]], "Differentiable Features & Collision Evaluation": [[28, "Differentiable-Features-&-Collision-Evaluation"]], "List of features": [[28, "List-of-features"]], "Position features": [[28, "Position-features"]], "Scalar product features": [[28, "Scalar-product-features"]], "Scale and target transformation": [[28, "Scale-and-target-transformation"]], "Collision features": [[28, "Collision-features"]], "Enabling/disabling collisions": [[28, "Enabling/disabling-collisions"]], "Advanced: Features over configuration tuples (path configurations, velocity/acceleration features)": [[28, "Advanced:-Features-over-configuration-tuples-(path-configurations,-velocity/acceleration-features)"]], "Inverse Kinematics as Optimization (to be merged)": [[30, "Inverse-Kinematics-as-Optimization-(to-be-merged)"]], "Demo of features in Inverse Kinematics": [[30, "Demo-of-features-in-Inverse-Kinematics"]], "More explanations": [[30, "More-explanations"]], "Path Optimization (to be merged)": [[31, "Path-Optimization-(to-be-merged)"]], "Advanced: Switches & Skeletons": [[32, "Advanced:-Switches-&-Skeletons"]], "Same again, but only the keyframes:": [[32, "Same-again,-but-only-the-keyframes:"]], "Skeletons": [[32, "Skeletons"]], "Optimization (NLP formulation and solving)": [[33, "Optimization-(NLP-formulation-and-solving)"]], "Path finding example": [[34, "Path-finding-example"]], "Importing, Editing & Manipulating Configurations": [[27, "Importing,-Editing-&-Manipulating-Configurations"]], "Importing robot models": [[27, "Importing-robot-models"]], "Conversion from URDF": [[27, "Conversion-from-URDF"]], "Interactive Editing": [[27, "Interactive-Editing"]], "How to attach frames - faking grasps": [[27, "How-to-attach-frames---faking-grasps"]], "Advanced: YAML and dict representations": [[27, "Advanced:-YAML-and-dict-representations"]], "KOMO: Reporting & Explaining Convergence": [[29, "KOMO:-Reporting-&-Explaining-Convergence"]], "Problem specs reporting": [[29, "Problem-specs-reporting"]], "Constraints error reporting": [[29, "Constraints-error-reporting"]], "Lagrange gradients reporting": [[29, "Lagrange-gradients-reporting"]], "Plotting constraint errors over time for paths": [[29, "Plotting-constraint-errors-over-time-for-paths"]], "Direct Simulation Interface": [[35, "Direct-Simulation-Interface"]], "Minimalistic example": [[35, "Minimalistic-example"]], "Including robots/articulated configurations": [[35, "Including-robots/articulated-configurations"]], "Friction and bouncing per object": [[35, "Friction-and-bouncing-per-object"]], "Resetting and messing with state": [[35, "Resetting-and-messing-with-state"]], "Getting Started": [[0, "getting-started"]], "Quick Install": [[0, "quick-install"]], "Compiling from Source & Docstrings": [[0, "compiling-from-source-docstrings"]], "Downloading the tutorial notebooks": [[0, "downloading-the-tutorial-notebooks"]], "Configuration": [[3, "configuration"]], "C\u2019tor": [[3, "c-tor"], [6, "c-tor"]], "Adding frames to the configuration": [[3, "adding-frames-to-the-configuration"]], "Copy, clear": [[3, "copy-clear"]], "Joint state: get/set, and selecting active joints": [[3, "joint-state-get-set-and-selecting-active-joints"]], "Frame state": [[3, "frame-state"]], "Features: Anything you might want to compute from Configurations": [[3, "features-anything-you-might-want-to-compute-from-configurations"]], "Structural edits": [[3, "structural-edits"]], "Collision computations": [[3, "collision-computations"]], "Functions to create other classes (KOMO, Simulation, viewer, etc)": [[3, "functions-to-create-other-classes-komo-simulation-viewer-etc"]], "Simulation": [[6, "simulation"]], "Stepping physics": [[6, "stepping-physics"]], "Opening & closing the gripper, and gripping state": [[6, "opening-closing-the-gripper-and-gripping-state"]], "Getting simulated RGB and depth images": [[6, "getting-simulated-rgb-and-depth-images"]], "Simulation states: restarting the simulation in previous states": [[6, "simulation-states-restarting-the-simulation-in-previous-states"]], "Helper: depthData2pointCloud": [[6, "helper-depthdata2pointcloud"]], "Lecture Script": [[17, "lecture-script"]], "Introduction": [[17, "introduction"]], "Reference material": [[17, "reference-material"]], "Coding Getting Started": [[17, "coding-getting-started"]], "Scene & Robot Description": [[17, "scene-robot-description"]], "Transformations": [[17, "transformations"], [17, "transformations-1"]], "Coordinates and Composition of Transformations": [[17, "coordinates-and-composition-of-transformations"]], "Scene Tree or Forest": [[17, "scene-tree-or-forest"]], "Kinematics": [[17, "kinematics"]], "Robots as Parameterized Trees": [[17, "robots-as-parameterized-trees"]], "Configuration & Joint Vector": [[17, "configuration-joint-vector"]], "Forward Kinematics": [[17, "forward-kinematics"]], "Jacobians": [[17, "jacobians"]], "Rotational Joint": [[17, "rotational-joint"]], "Translational Joint": [[17, "translational-joint"]], "Quaternion Joint": [[17, "quaternion-joint"]], "General Concept of Differentiable Features": [[17, "general-concept-of-differentiable-features"]], "Summary: Implementing a Kinematic Engine": [[17, "summary-implementing-a-kinematic-engine"]], "Inverse Kinematics": [[17, "inverse-kinematics"]], "Building an NLP from features": [[17, "building-an-nlp-from-features"]], "Classical Derivation of Pseudo-Inverse Jacobian Solution": [[17, 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"static-transformations"]], "Dynamic transformations": [[17, "dynamic-transformations"]], "A note on affine coordinate frames": [[17, "a-note-on-affine-coordinate-frames"]], "RAI references": [[17, "rai-references"]], "NLP interface": [[17, "nlp-interface"]], "Kinematic Features": [[17, "kinematic-features"]], "Graph-Yaml Files": [[17, "graph-yaml-files"]], "yaml-style files to describe robot configurations": [[17, "yaml-style-files-to-describe-robot-configurations"]], "Cameras": [[17, "cameras"]], "Image, Camera, & World Coordinates": [[17, "image-camera-world-coordinates"]], "Homogeneous coordinates & Camera Matrix P": [[17, "homogeneous-coordinates-camera-matrix-p"]], "Calibration as Estimating P,K,R,t from Depth Data": [[17, "calibration-as-estimating-p-k-r-t-from-depth-data"]], "Shapes": [[17, "shapes"]], "Kinematics formally": [[17, "kinematics-formally"]], "Tutorials": [[18, "tutorials"]], "Basics on Configurations, BotOp & KOMO": [[18, "basics-on-configurations-botop-komo"]], "In Depth": [[18, "in-depth"]], "Preliminary": [[18, "preliminary"]]}, "indexentries": {}})
\ No newline at end of file
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Manipulation Planning Library": [[1, "robotic-control-interface-manipulation-planning-library"]], "Contents:": [[1, null]], "Indices and tables": [[1, "indices-and-tables"]], "Array": [[2, "array"]], ".g-files to describe robot configurations": [[4, "g-files-to-describe-robot-configurations"]], "Editing using kinEdit": [[4, "editing-using-kinedit"], [17, "editing-using-kinedit"]], "Import from URDF": [[4, "import-from-urdf"], [17, "import-from-urdf"]], "Notation to specify transformations": [[4, "notation-to-specify-transformations"], [17, "notation-to-specify-transformations"]], "Joint types": [[4, "joint-types"], [17, "joint-types"]], "Graph and .g-files": [[5, "graph-and-g-files"]], "Learning KOMO (K-Order Markov Optimization)": [[7, "learning-komo-k-order-markov-optimization"]], "No dynamics? No velocities? How do you solve for dynamic problems?": [[7, "no-dynamics-no-velocities-how-do-you-solve-for-dynamic-problems"]], "What is KOMO?": [[7, "what-is-komo"]], "What is KOMO \u2013 formally?": [[7, "what-is-komo-formally"]], "What are the main steps to define a KOMO problem?": [[7, "what-are-the-main-steps-to-define-a-komo-problem"]], "Roughly, what does KOMO do with these specs?": [[7, "roughly-what-does-komo-do-with-these-specs"]], "Can KOMO only optimize paths?": [[7, "can-komo-only-optimize-paths"]], "Can I load an URDF?": [[7, "can-i-load-an-urdf"]], "First practical steps": [[7, "first-practical-steps"]], "Lesson 1: play around with $RAI/test/KOMO/tutorial": [[7, "lesson-1-play-around-with-rai-test-komo-tutorial"]], "Lesson 2: Learn the addObjective method and the \u201cLanguage of Features\u201d": [[7, "lesson-2-learn-the-addobjective-method-and-the-language-of-features"]], "Features are at the core": [[7, "features-are-at-the-core"]], "Varying decision variables per time slice: kinematic switches & force contacts": [[7, "varying-decision-variables-per-time-slice-kinematic-switches-force-contacts"]], "Summary: there are only a few fundamental methods in KOMO, the rest are helpers": [[7, "summary-there-are-only-a-few-fundamental-methods-in-komo-the-rest-are-helpers"]], "Steps, phase, real time, and time optimization": [[7, "steps-phase-real-time-and-time-optimization"]], "LINKS to more documentation": [[7, "links-to-more-documentation"]], "Old Material": [[8, "old-material"]], "Lab Course in Simulation": [[9, "lab-course-in-simulation"]], "SimLab Exercise 1 - Basic Setup": [[10, "simlab-exercise-1-basic-setup"]], "a) Code Setup": [[10, "a-code-setup"]], "b) Git Setup": [[10, "b-git-setup"]], "c) Rough familiarity with Simulation and Configuration": [[10, "c-rough-familiarity-with-simulation-and-configuration"]], "SimLab Exercise 2 - Motion": [[11, "simlab-exercise-2-motion"]], "a) Basic IK": [[11, "a-basic-ik"]], "b) Path Optimization & velocity/acceleration objectives": [[11, "b-path-optimization-velocity-acceleration-objectives"]], "c) Explore collision features, and enforce touch": [[11, "c-explore-collision-features-and-enforce-touch"]], "d) Interacting with \u201creal\u201d objects": [[11, "d-interacting-with-real-objects"]], "e) Advanced: Tricky use of inequalities, scaling, and target": [[11, "e-advanced-tricky-use-of-inequalities-scaling-and-target"]], "f) Advanced: Reactive Operational Space Control": [[11, "f-advanced-reactive-operational-space-control"]], "SimLab Exercise 3 - OpenCV": [[12, "simlab-exercise-3-opencv"]], "a) OpenCV - color-based tracking": [[12, "a-opencv-color-based-tracking"]], "b) OpenCV - background substraction": [[12, "b-opencv-background-substraction"]], "SimLab Exercise 4 - Grasp": [[13, "simlab-exercise-4-grasp"]], "a) Grasp, lift & drop a hopping ball": [[13, "a-grasp-lift-drop-a-hopping-ball"]], "b) Throw the ball": [[13, "b-throw-the-ball"]], "c) Bonus: \u2026and for a box": [[13, "c-bonus-and-for-a-box"]], "SimLab - Project Proposal and Final Presentation": [[14, "simlab-project-proposal-and-final-presentation"]], "Project Proposal": [[14, "project-proposal"]], "Presentation Details": [[14, "presentation-details"]], "Learning about Skeletons & LGP": [[15, "learning-about-skeletons-lgp"]], "What is LGP?": [[15, "what-is-lgp"]], "Example Skeletons": [[15, "example-skeletons"]], "Starting with a real robot": [[22, "Starting-with-a-real-robot"]], "First robot motion, camera & pcl, and gripper motion": [[22, "First-robot-motion,-camera-&-pcl,-and-gripper-motion"]], "Advanced: Compliance & Force/Torque feedback": [[22, "Advanced:-Compliance-&-Force/Torque-feedback"]], "First example to grap images from a webcam": [[23, "First-example-to-grap-images-from-a-webcam"]], "2. Example to convert simulated RGB-D images into point clouds": [[23, "2.-Example-to-convert-simulated-RGB-D-images-into-point-clouds"]], "3. example to use multiple camera attached to different robot frames": [[23, "3.-example-to-use-multiple-camera-attached-to-different-robot-frames"]], "Example for grasping in Sim": [[25, "Example-for-grasping-in-Sim"]], "Example for pushing in sim": [[25, "Example-for-pushing-in-sim"]], "Inverse Kinematics as Optimization (to be merged)": [[29, "Inverse-Kinematics-as-Optimization-(to-be-merged)"]], "Demo of features in Inverse Kinematics": [[29, "Demo-of-features-in-Inverse-Kinematics"]], "More explanations": [[29, "More-explanations"]], "Path Optimization (to be merged)": [[30, "Path-Optimization-(to-be-merged)"]], "Advanced: Switches & Skeletons": [[31, "Advanced:-Switches-&-Skeletons"]], "Same again, but only the keyframes:": [[31, "Same-again,-but-only-the-keyframes:"]], "Skeletons": [[31, "Skeletons"]], "Optimization (NLP formulation and solving)": [[32, "Optimization-(NLP-formulation-and-solving)"]], "Path finding example": [[34, "Path-finding-example"]], "KOMO: Reporting & Explaining Convergence": [[28, "KOMO:-Reporting-&-Explaining-Convergence"]], "Problem specs reporting": [[28, "Problem-specs-reporting"]], "Constraints error reporting": [[28, "Constraints-error-reporting"]], "Lagrange gradients reporting": [[28, "Lagrange-gradients-reporting"]], "Plotting constraint errors over time for paths": [[28, "Plotting-constraint-errors-over-time-for-paths"]], "Direct Simulation Interface": [[35, "Direct-Simulation-Interface"]], "Minimalistic example": [[35, "Minimalistic-example"]], "Including robots/articulated configurations": [[35, "Including-robots/articulated-configurations"]], "Friction and bouncing per object": [[35, "Friction-and-bouncing-per-object"]], "Resetting and messing with state": [[35, "Resetting-and-messing-with-state"]], "Getting Started": [[0, "getting-started"]], "Quick Install": [[0, "quick-install"]], "Compiling from Source & Docstrings": [[0, "compiling-from-source-docstrings"]], "Downloading the tutorial notebooks": [[0, "downloading-the-tutorial-notebooks"]], "Configuration": [[3, "configuration"]], "C\u2019tor": [[3, "c-tor"], [6, "c-tor"]], "Adding frames to the configuration": [[3, "adding-frames-to-the-configuration"]], "Copy, clear": [[3, "copy-clear"]], "Joint state: get/set, and selecting active joints": [[3, "joint-state-get-set-and-selecting-active-joints"]], "Frame state": [[3, "frame-state"]], "Features: Anything you might want to compute from Configurations": [[3, "features-anything-you-might-want-to-compute-from-configurations"]], "Structural edits": [[3, "structural-edits"]], "Collision computations": [[3, "collision-computations"]], "Functions to create other classes (KOMO, Simulation, viewer, etc)": [[3, "functions-to-create-other-classes-komo-simulation-viewer-etc"]], "Simulation": [[6, "simulation"]], "Stepping physics": [[6, "stepping-physics"]], "Opening & closing the gripper, and gripping state": [[6, "opening-closing-the-gripper-and-gripping-state"]], "Getting simulated RGB and depth images": [[6, "getting-simulated-rgb-and-depth-images"]], "Simulation states: restarting the simulation in previous states": [[6, "simulation-states-restarting-the-simulation-in-previous-states"]], "Helper: depthData2pointCloud": [[6, "helper-depthdata2pointcloud"]], "rai python API": [[16, "module-robotic.ry"]], "Lecture Script": [[17, "lecture-script"]], "Introduction": [[17, "introduction"]], "Reference material": [[17, "reference-material"]], "Coding Getting Started": [[17, "coding-getting-started"]], "Scene & Robot Description": [[17, "scene-robot-description"]], "Transformations": [[17, "transformations"], [17, "transformations-1"]], "Coordinates and Composition of Transformations": [[17, "coordinates-and-composition-of-transformations"]], "Scene Tree or Forest": [[17, "scene-tree-or-forest"]], "Kinematics": [[17, "kinematics"]], "Robots as Parameterized Trees": [[17, "robots-as-parameterized-trees"]], "Configuration & Joint Vector": [[17, "configuration-joint-vector"]], "Forward Kinematics": [[17, "forward-kinematics"]], "Jacobians": [[17, "jacobians"]], "Rotational Joint": [[17, "rotational-joint"]], "Translational Joint": [[17, "translational-joint"]], "Quaternion Joint": [[17, "quaternion-joint"]], "General Concept of Differentiable Features": [[17, "general-concept-of-differentiable-features"]], "Summary: Implementing a Kinematic Engine": [[17, "summary-implementing-a-kinematic-engine"]], "Inverse Kinematics": [[17, "inverse-kinematics"]], "Building an NLP from features": [[17, "building-an-nlp-from-features"]], "Classical Derivation of Pseudo-Inverse Jacobian Solution": [[17, "classical-derivation-of-pseudo-inverse-jacobian-solution"]], "Pseudo-inverse Jacobian.": [[17, "pseudo-inverse-jacobian"]], "On the fly IK.": [[17, "on-the-fly-ik"]], "Singularity.": [[17, "singularity"]], "Placeholder": [[17, "placeholder"], [17, "placeholder-1"]], "Practical Control: PID, Splines, Tracking, & Layes of Control": [[17, "practical-control-pid-splines-tracking-layes-of-control"]], "Path Planning": [[17, "path-planning"]], "Path Optimization \u2013 briefly": [[17, "path-optimization-briefly"]], "Mobile Robotics": [[17, "mobile-robotics"]], "Control Theory": [[17, "control-theory"]], "SKIPPED THIS TERM \u2013 Grasping (brief intro)": [[17, "skipped-this-term-grasping-brief-intro"]], "SKIPPED THIS TERM \u2013 Legged Locomotion (brief intro)": [[17, "skipped-this-term-legged-locomotion-brief-intro"]], "3D Transformations, Rotations, Quaternions": [[17, "d-transformations-rotations-quaternions"]], "Rotations": [[17, "rotations"]], "Static transformations": [[17, "static-transformations"]], "Dynamic transformations": [[17, "dynamic-transformations"]], "A note on affine coordinate frames": [[17, "a-note-on-affine-coordinate-frames"]], "RAI references": [[17, "rai-references"]], "NLP interface": [[17, "nlp-interface"]], "Kinematic Features": [[17, "kinematic-features"]], "Graph-Yaml Files": [[17, "graph-yaml-files"]], "yaml-style files to describe robot configurations": [[17, "yaml-style-files-to-describe-robot-configurations"]], "Cameras": [[17, "cameras"]], "Image, Camera, & World Coordinates": [[17, "image-camera-world-coordinates"]], "Homogeneous coordinates & Camera Matrix P": [[17, "homogeneous-coordinates-camera-matrix-p"]], "Calibration as Estimating P,K,R,t from Depth Data": [[17, "calibration-as-estimating-p-k-r-t-from-depth-data"]], "Shapes": [[17, "shapes"]], "Kinematics formally": [[17, "kinematics-formally"]], "Tutorials": [[18, "tutorials"]], "Basics on Configurations, BotOp & KOMO": [[18, "basics-on-configurations-botop-komo"]], "In Depth": [[18, "in-depth"]], "Preliminary": [[18, "preliminary"]], "Configurations": [[19, "Configurations"]], "Building a configuration from scratch": [[19, "Building-a-configuration-from-scratch"]], "Specifying transformations: Quaternions & turtle strings": [[19, "Specifying-transformations:-Quaternions-&-turtle-strings"]], "Loading existing configurations": [[19, "Loading-existing-configurations"]], "Features: computing geometric properties": [[19, "Features:-computing-geometric-properties"]], "Joint and Frame State": [[19, "Joint-and-Frame-State"]], "View interaction and releasing objects": [[19, "View-interaction-and-releasing-objects"]], "BotOp (Robot Operation) interface": [[20, "BotOp-(Robot-Operation)-interface"]], "Sending motion based on IK": [[20, "Sending-motion-based-on-IK"]], "Reactive control: Overwriting the reference": [[20, "Reactive-control:-Overwriting-the-reference"]], "Aborting motion": [[20, "Aborting-motion"]], "Gripper operation": [[20, "Gripper-operation"]], "Shutdown": [[20, "Shutdown"]], "Parameters": [[20, "Parameters"]], "KOMO: Motion Optimization": [[21, "KOMO:-Motion-Optimization"]], "Minimal IK example": [[21, "Minimal-IK-example"]], "Example for more constraints: box grasping IK": [[21, "Example-for-more-constraints:-box-grasping-IK"]], "Waypoints example": [[21, "Waypoints-example"]], "Path example": [[21, "Path-example"]], "Importing, Editing & Manipulating Configurations": [[26, "Importing,-Editing-&-Manipulating-Configurations"]], "Importing robot models": [[26, "Importing-robot-models"]], "Conversion from URDF": [[26, "Conversion-from-URDF"]], "Interactive Editing": [[26, "Interactive-Editing"]], "How to attach frames - faking grasps": [[26, "How-to-attach-frames---faking-grasps"]], "Advanced: YAML and dict representations": [[26, "Advanced:-YAML-and-dict-representations"]], "Differentiable Features & Collision Evaluation": [[27, "Differentiable-Features-&-Collision-Evaluation"]], "Recap of evaluating features directly": [[27, "Recap-of-evaluating-features-directly"]], "List of features": [[27, "List-of-features"]], "Position features": [[27, "Position-features"]], "Scalar product features": [[27, "Scalar-product-features"]], "Scale and target transformation": [[27, "Scale-and-target-transformation"]], "Collision features": [[27, "Collision-features"]], "Enabling/disabling collisions": [[27, "Enabling/disabling-collisions"]], "Advanced: Features over configuration tuples (path configurations, velocity/acceleration features)": [[27, "Advanced:-Features-over-configuration-tuples-(path-configurations,-velocity/acceleration-features)"]], "CameraView and Rendering [todo]": [[33, "CameraView-and-Rendering-[todo]"]], "Rendering configurations": [[33, "Rendering-configurations"]]}, "indexentries": {"argword (class in robotic.ry)": [[16, "robotic.ry.ArgWord"]], "botop (class in robotic.ry)": [[16, "robotic.ry.BotOp"]], "config (class in robotic.ry)": [[16, "robotic.ry.Config"]], "controlmode (class in robotic.ry)": [[16, "robotic.ry.ControlMode"]], "fs (class in robotic.ry)": [[16, "robotic.ry.FS"]], "feature (class in robotic.ry)": [[16, "robotic.ry.Feature"]], "frame (class in robotic.ry)": [[16, "robotic.ry.Frame"]], "imptype (class in robotic.ry)": [[16, "robotic.ry.ImpType"]], "jt (class in robotic.ry)": [[16, "robotic.ry.JT"]], "komo (class in robotic.ry)": [[16, "robotic.ry.KOMO"]], "nlp (class in robotic.ry)": [[16, "robotic.ry.NLP"]], "nlp_factory (class in robotic.ry)": [[16, "robotic.ry.NLP_Factory"]], "nlp_solver (class in robotic.ry)": [[16, "robotic.ry.NLP_Solver"]], "nlp_solverid (class in robotic.ry)": [[16, "robotic.ry.NLP_SolverID"]], "nlp_solveroptions (class in robotic.ry)": [[16, "robotic.ry.NLP_SolverOptions"]], "ot (class in robotic.ry)": [[16, "robotic.ry.OT"]], "pathfinder (class in robotic.ry)": [[16, "robotic.ry.PathFinder"]], "st (class in robotic.ry)": [[16, "robotic.ry.ST"]], "sy (class in robotic.ry)": [[16, "robotic.ry.SY"]], "simulation (class in robotic.ry)": [[16, "robotic.ry.Simulation"]], "simulationengine (class in robotic.ry)": [[16, "robotic.ry.SimulationEngine"]], "solverreturn (class in robotic.ry)": [[16, "robotic.ry.SolverReturn"]], 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"robotic.ry.KOMO.getPathFrames"]], "getpathtau() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.getPathTau"]], "getpath_qall() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.getPath_qAll"]], "getposition() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.getPosition"]], "getquaternion() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.getQuaternion"]], "getrelativeposition() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.getRelativePosition"]], "getrelativequaternion() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.getRelativeQuaternion"]], "getreport() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.getReport"]], "getrotationmatrix() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.getRotationMatrix"]], "getscreenshot() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.getScreenshot"]], "getsize() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.getSize"]], "getstartgoalpath() (in module robotic.ry)": [[16, "robotic.ry.getStartGoalPath"]], "getstate() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.getState"]], "gett() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.getT"]], "gettimetoend() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.getTimeToEnd"]], "gettimetomove() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.getTimeToMove"]], "gettotalpenetration() (robotic.ry.config method)": [[16, "robotic.ry.Config.getTotalPenetration"]], "gettrace_j() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.getTrace_J"]], "gettrace_costs() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.getTrace_costs"]], "gettrace_phi() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.getTrace_phi"]], "gettrace_x() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.getTrace_x"]], "get_q() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.get_q"]], "get_q() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.get_q"]], "get_qdot() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.get_qDot"]], "get_qdot() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.get_qDot"]], "get_qhome() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.get_qHome"]], "get_t() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.get_t"]], "get_tauexternal() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.get_tauExternal"]], "gripperclose() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.gripperClose"]], "gripperclosegrasp() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.gripperCloseGrasp"]], "gripperdone() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.gripperDone"]], "grippermove() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.gripperMove"]], "gripperpos() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.gripperPos"]], "hold() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.hold"]], "home() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.home"]], "info() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.info"]], "initorg() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.initOrg"]], "initphasewithdofspath() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.initPhaseWithDofsPath"]], "initrandom() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.initRandom"]], "initwithconstant() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.initWithConstant"]], "initwithpath_qorg() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.initWithPath_qOrg"]], "initwithwaypoints() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.initWithWaypoints"]], "loadteleopcallbacks() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.loadTeleopCallbacks"]], "makeobjectsconvex() (robotic.ry.config method)": [[16, "robotic.ry.Config.makeObjectsConvex"]], "module": [[16, "module-robotic.ry"]], "move() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.move"]], "moveautotimed() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.moveAutoTimed"]], "moveto() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.moveTo"]], "name (robotic.ry.argword property)": [[16, "robotic.ry.ArgWord.name"]], "name (robotic.ry.controlmode property)": [[16, "robotic.ry.ControlMode.name"]], "name (robotic.ry.fs property)": [[16, "robotic.ry.FS.name"]], "name (robotic.ry.imptype property)": [[16, "robotic.ry.ImpType.name"]], "name (robotic.ry.jt property)": [[16, "robotic.ry.JT.name"]], "name (robotic.ry.nlp_solverid property)": [[16, "robotic.ry.NLP_SolverID.name"]], "name (robotic.ry.ot property)": [[16, "robotic.ry.OT.name"]], "name (robotic.ry.st property)": [[16, "robotic.ry.ST.name"]], "name (robotic.ry.sy property)": [[16, "robotic.ry.SY.name"]], "name (robotic.ry.simulationengine property)": [[16, "robotic.ry.SimulationEngine.name"]], "nlp() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.nlp"]], "opengripper() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.openGripper"]], "params_add() (in module robotic.ry)": [[16, "robotic.ry.params_add"]], "params_clear() (in module robotic.ry)": [[16, "robotic.ry.params_clear"]], "params_file() (in module robotic.ry)": [[16, "robotic.ry.params_file"]], "params_print() (in module robotic.ry)": [[16, "robotic.ry.params_print"]], "pushconfigurationtosimulator() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.pushConfigurationToSimulator"]], "raipath() (in module robotic.ry)": [[16, "robotic.ry.raiPath"]], "report() (robotic.ry.config method)": [[16, "robotic.ry.Config.report"]], "report() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.report"]], "report() (robotic.ry.nlp method)": [[16, "robotic.ry.NLP.report"]], "reportlagrangegradients() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.reportLagrangeGradients"]], "reportproblem() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.reportProblem"]], "robotic.ry": [[16, "module-robotic.ry"]], "selectjoints() (robotic.ry.config method)": [[16, "robotic.ry.Config.selectJoints"]], "selectsensor() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.selectSensor"]], "setbounds() (robotic.ry.nlp_factory method)": [[16, "robotic.ry.NLP_Factory.setBounds"]], "setcolor() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setColor"]], "setcompliance() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.setCompliance"]], "setconfig() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.setConfig"]], "setcontact() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setContact"]], "setcontrollerwritedata() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.setControllerWriteData"]], "setdimension() (robotic.ry.nlp_factory method)": [[16, "robotic.ry.NLP_Factory.setDimension"]], "setevalcallback() (robotic.ry.nlp_factory method)": [[16, "robotic.ry.NLP_Factory.setEvalCallback"]], "setexplicitcollisionpairs() (robotic.ry.pathfinder method)": [[16, "robotic.ry.PathFinder.setExplicitCollisionPairs"]], "setfeaturetypes() (robotic.ry.nlp_factory method)": [[16, "robotic.ry.NLP_Factory.setFeatureTypes"]], "setframestate() (robotic.ry.config method)": [[16, "robotic.ry.Config.setFrameState"]], "setjoint() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setJoint"]], "setjointstate() (robotic.ry.config method)": [[16, "robotic.ry.Config.setJointState"]], "setjointstate() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setJointState"]], "setjointstateslice() (robotic.ry.config method)": [[16, "robotic.ry.Config.setJointStateSlice"]], "setmass() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setMass"]], "setmeshaslines() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setMeshAsLines"]], "setmoveto() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.setMoveto"]], "setoptions() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.setOptions"]], "setorder() (robotic.ry.feature method)": [[16, "robotic.ry.Feature.setOrder"]], "setparent() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setParent"]], "setpointcloud() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setPointCloud"]], "setpose() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setPose"]], "setposition() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setPosition"]], "setproblem() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.setProblem"]], "setproblem() (robotic.ry.pathfinder method)": [[16, "robotic.ry.PathFinder.setProblem"]], "setquaternion() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setQuaternion"]], "setraipath() (in module robotic.ry)": [[16, "robotic.ry.setRaiPath"]], "setrelativepose() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setRelativePose"]], "setrelativeposition() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setRelativePosition"]], "setrelativequaternion() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setRelativeQuaternion"]], "setscale() (robotic.ry.feature method)": [[16, "robotic.ry.Feature.setScale"]], "setshape() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.setShape"]], "setsolver() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.setSolver"]], "setstate() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.setState"]], "settarget() (robotic.ry.feature method)": [[16, "robotic.ry.Feature.setTarget"]], "settiming() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.setTiming"]], "settracing() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.setTracing"]], "set_damping() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_damping"]], "set_maxstep() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_maxStep"]], "set_muinc() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_muInc"]], "set_muinit() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_muInit"]], "set_mulbdec() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_muLBDec"]], "set_mulbinit() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_muLBInit"]], "set_mumax() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_muMax"]], "set_stepdec() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_stepDec"]], "set_stepinc() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_stepInc"]], "set_stopevals() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_stopEvals"]], "set_stopftolerance() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_stopFTolerance"]], "set_stopgtolerance() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_stopGTolerance"]], "set_stoptolerance() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_stopTolerance"]], "set_verbose() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_verbose"]], "set_wolfe() (robotic.ry.nlp_solveroptions method)": [[16, "robotic.ry.NLP_SolverOptions.set_wolfe"]], "solve() (robotic.ry.nlp_solver method)": [[16, "robotic.ry.NLP_Solver.solve"]], "solve() (robotic.ry.pathfinder method)": [[16, "robotic.ry.PathFinder.solve"]], "sortframes() (robotic.ry.config method)": [[16, "robotic.ry.Config.sortFrames"]], "step() (robotic.ry.pathfinder method)": [[16, "robotic.ry.PathFinder.step"]], "step() (robotic.ry.simulation method)": [[16, "robotic.ry.Simulation.step"]], "stepdynamics() (robotic.ry.config method)": [[16, "robotic.ry.Config.stepDynamics"]], "stop() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.stop"]], "sync() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.sync"]], "testcallingevalcallback() (robotic.ry.nlp_factory method)": [[16, "robotic.ry.NLP_Factory.testCallingEvalCallback"]], "unlink() (robotic.ry.frame method)": [[16, "robotic.ry.Frame.unLink"]], "updaterootobjects() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.updateRootObjects"]], "view() (robotic.ry.config method)": [[16, "robotic.ry.Config.view"]], "view() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.view"]], "view_close() (robotic.ry.config method)": [[16, "robotic.ry.Config.view_close"]], "view_close() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.view_close"]], "view_focallength() (robotic.ry.config method)": [[16, "robotic.ry.Config.view_focalLength"]], "view_getscreenshot() (robotic.ry.config method)": [[16, "robotic.ry.Config.view_getScreenshot"]], "view_play() (robotic.ry.komo method)": [[16, "robotic.ry.KOMO.view_play"]], "view_playvideo() (robotic.ry.config method)": [[16, "robotic.ry.Config.view_playVideo"]], "view_pose() (robotic.ry.config method)": [[16, "robotic.ry.Config.view_pose"]], "view_recopymeshes() (robotic.ry.config method)": [[16, "robotic.ry.Config.view_recopyMeshes"]], "wait() (robotic.ry.botop method)": [[16, "robotic.ry.BotOp.wait"]], "watchfile() (robotic.ry.config method)": [[16, "robotic.ry.Config.watchFile"]], "write() (robotic.ry.config method)": [[16, "robotic.ry.Config.write"]], "writecollada() (robotic.ry.config method)": [[16, "robotic.ry.Config.writeCollada"]], "writeurdf() (robotic.ry.config method)": [[16, "robotic.ry.Config.writeURDF"]]}})
\ No newline at end of file
diff --git a/docs/source/tutorials.rst b/docs/source/tutorials.rst
index d76b8f4..fa1486c 100644
--- a/docs/source/tutorials.rst
+++ b/docs/source/tutorials.rst
@@ -41,6 +41,7 @@ These are not tested or adapted to the newest code base... They will be updated.
:glob:
:maxdepth: 1
+ tutorials/rendering
tutorials/core*
tutorials/komo*
tutorials/botop*
diff --git a/docs/tutorials.html b/docs/tutorials.html
index 30ecc29..38b9f29 100644
--- a/docs/tutorials.html
+++ b/docs/tutorials.html
@@ -49,7 +49,7 @@
- Tutorials
- Preliminary
|
+