Robotic Control Interface & Manipulation Planning Library

This is a python library to operate a real or simulated robot, work with robot/world configurations, compute differentiable features, formulate and solve constrained optimization problems (for inverse kinematics, path optimization, and manipulation planning), and interfacing to various physical simulation engines. These python bindings were developed for easier access to the underlying C++ code base, esp. for teaching and students. This code base is how we, in the Learning & Intelligent Systems Lab, operate our robots.

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