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.

• Library Sources: https://github.com/MarcToussaint/robotic/

• Tutorial Notebooks: https://github.com/MarcToussaint/rai-tutorials/

• Pypi: https://pypi.org/project/robotic/

Contents:

• Getting Started
  • Quick Install
  • Compiling from source, cmd line tools, & docstrings
  • Downloading the tutorial notebooks
• Tutorials
  • Basics on Configurations, BotOp & KOMO
    • Configurations
    • BotOp (Robot Operation) interface
    • KOMO: Motion Optimization
    • Starting with a real robot
    • Differentiable Features & Collision Evaluation
  • In Depth
    • Importing, Editing & Manipulating Configurations
    • KOMO: Reporting & Explaining Convergence
    • Direct Simulation Interface
    • CameraView, Offscreen (headless), and Realistic Rendering
    • Path finding example
    • Optimization (NLP formulation and solving)
• Lecture Script
  • Introduction
    • Reference material
    • Coding Getting Started
  • Scene & Robot Description
    • Transformations
    • Coordinates and Composition of Transformations
    • Scene Tree or Forest
  • Kinematics
    • Robots as Parameterized Trees
    • Forward Kinematics
    • Jacobians
    • General Concept of Differentiable Features
    • Summary: Implementing a Kinematic Engine
    • Inverse Kinematics
  • 3D Transformations, Rotations, Quaternions
    • Rotations
    • Transformations
  • Splines
  • Code References
    • NLP interface
    • Yaml-Graph Files
  • Cameras
    • Image, Camera, & World Coordinates
    • Homogeneous coordinates & Camera Matrix \(P\)
    • Calibration as Estimating \(P,K,R,t\) from Depth Data
• robotic python API
  • ArgWord
    • ArgWord.name
  • BotOp
    • BotOp.getCameraFxycxy()
    • BotOp.getImageAndDepth()
    • BotOp.getImageDepthPcl()
    • BotOp.getKeyPressed()
    • BotOp.getTimeToEnd()
    • BotOp.get_q()
    • BotOp.get_qDot()
    • BotOp.get_qHome()
    • BotOp.get_t()
    • BotOp.get_tauExternal()
    • BotOp.gripperClose()
    • BotOp.gripperCloseGrasp()
    • BotOp.gripperDone()
    • BotOp.gripperMove()
    • BotOp.gripperPos()
    • BotOp.hold()
    • BotOp.home()
    • BotOp.move()
    • BotOp.moveAutoTimed()
    • BotOp.moveTo()
    • BotOp.setCompliance()
    • BotOp.setControllerWriteData()
    • BotOp.stop()
    • BotOp.sync()
    • BotOp.wait()
  • CameraView
    • CameraView.computeImageAndDepth()
    • CameraView.computeSegmentationID()
    • CameraView.computeSegmentationImage()
    • CameraView.getFxycxy()
    • CameraView.setCamera()
  • Config
    • Config.addConfigurationCopy()
    • Config.addFile()
    • Config.addFrame()
    • Config.animate()
    • Config.attach()
    • Config.clear()
    • Config.computeCollisions()
    • Config.copy()
    • Config.delFrame()
    • Config.equationOfMotion()
    • Config.eval()
    • Config.feature()
    • Config.frame()
    • Config.frames()
    • Config.getCollisions()
    • Config.getDofIDs()
    • Config.getFrame()
    • Config.getFrameDimension()
    • Config.getFrameNames()
    • Config.getFrameState()
    • Config.getJointDimension()
    • Config.getJointNames()
    • Config.getJointState()
    • Config.getTotalPenetration()
    • Config.makeObjectsConvex()
    • Config.report()
    • Config.selectJoints()
    • Config.setFrameState()
    • Config.setJointState()
    • Config.setJointStateSlice()
    • Config.sortFrames()
    • Config.stepDynamics()
    • Config.view()
    • Config.view_close()
    • Config.view_focalLength()
    • Config.view_fxycxy()
    • Config.view_getDepth()
    • Config.view_getRgb()
    • Config.view_playVideo()
    • Config.view_pose()
    • Config.view_recopyMeshes()
    • Config.view_savePng()
    • Config.view_setCamera()
    • Config.watchFile()
    • Config.write()
    • Config.writeCollada()
    • Config.writeURDF()
  • ControlMode
    • ControlMode.name
  • FS
    • FS.name
  • Feature
    • Feature.description()
    • Feature.eval()
    • Feature.setOrder()
    • Feature.setScale()
    • Feature.setTarget()
  • Frame
    • Frame.addAttributes()
    • Frame.getAttributes()
    • Frame.getJointState()
    • Frame.getMeshPoints()
    • Frame.getMeshTriangles()
    • Frame.getPosition()
    • Frame.getQuaternion()
    • Frame.getRelativePosition()
    • Frame.getRelativeQuaternion()
    • Frame.getRotationMatrix()
    • Frame.getSize()
    • Frame.info()
    • Frame.setAttribute()
    • Frame.setColor()
    • Frame.setContact()
    • Frame.setConvexMesh()
    • Frame.setDensity()
    • Frame.setJoint()
    • Frame.setJointState()
    • Frame.setMass()
    • Frame.setMesh()
    • Frame.setMeshAsLines()
    • Frame.setParent()
    • Frame.setPointCloud()
    • Frame.setPose()
    • Frame.setPosition()
    • Frame.setQuaternion()
    • Frame.setRelativePose()
    • Frame.setRelativePosition()
    • Frame.setRelativeQuaternion()
    • Frame.setShape()
    • Frame.unLink()
  • ImpType
    • ImpType.name
  • JT
    • JT.name
  • KOMO
    • KOMO.addControlObjective()
    • KOMO.addInteraction_elasticBounce()
    • KOMO.addModeSwitch()
    • KOMO.addObjective()
    • KOMO.addQuaternionNorms()
    • KOMO.addTimeOptimization()
    • KOMO.clearObjectives()
    • KOMO.getFeatureNames()
    • KOMO.getForceInteractions()
    • KOMO.getFrameState()
    • KOMO.getPath()
    • KOMO.getPathFrames()
    • KOMO.getPathTau()
    • KOMO.getPath_qAll()
    • KOMO.getReport()
    • KOMO.getT()
    • KOMO.initOrg()
    • KOMO.initPhaseWithDofsPath()
    • KOMO.initRandom()
    • KOMO.initWithConstant()
    • KOMO.initWithPath_qOrg()
    • KOMO.initWithWaypoints()
    • KOMO.nlp()
    • KOMO.report()
    • KOMO.reportProblem()
    • KOMO.setConfig()
    • KOMO.setTiming()
    • KOMO.updateRootObjects()
    • KOMO.view()
    • KOMO.view_close()
    • KOMO.view_play()
  • NLP
    • NLP.evaluate()
    • NLP.getBounds()
    • NLP.getDimension()
    • NLP.getFHessian()
    • NLP.getFeatureTypes()
    • NLP.getInitializationSample()
    • NLP.report()
  • NLP_Factory
    • NLP_Factory.setBounds()
    • NLP_Factory.setDimension()
    • NLP_Factory.setEvalCallback()
    • NLP_Factory.setFeatureTypes()
    • NLP_Factory.testCallingEvalCallback()
  • NLP_Solver
    • NLP_Solver.getOptions()
    • NLP_Solver.getTrace_J()
    • NLP_Solver.getTrace_costs()
    • NLP_Solver.getTrace_phi()
    • NLP_Solver.getTrace_x()
    • NLP_Solver.reportLagrangeGradients()
    • NLP_Solver.setOptions()
    • NLP_Solver.setProblem()
    • NLP_Solver.setSolver()
    • NLP_Solver.setTracing()
    • NLP_Solver.solve()
  • NLP_SolverID
    • NLP_SolverID.name
  • NLP_SolverOptions
    • NLP_SolverOptions.dict()
    • NLP_SolverOptions.set_damping()
    • NLP_SolverOptions.set_maxStep()
    • NLP_SolverOptions.set_muInc()
    • NLP_SolverOptions.set_muInit()
    • NLP_SolverOptions.set_muLBDec()
    • NLP_SolverOptions.set_muLBInit()
    • NLP_SolverOptions.set_muMax()
    • NLP_SolverOptions.set_stepDec()
    • NLP_SolverOptions.set_stepInc()
    • NLP_SolverOptions.set_stopEvals()
    • NLP_SolverOptions.set_stopFTolerance()
    • NLP_SolverOptions.set_stopGTolerance()
    • NLP_SolverOptions.set_stopTolerance()
    • NLP_SolverOptions.set_verbose()
    • NLP_SolverOptions.set_wolfe()
  • OT
    • OT.name
  • PathFinder
    • PathFinder.setExplicitCollisionPairs()
    • PathFinder.setProblem()
    • PathFinder.solve()
    • PathFinder.step()
  • ST
    • ST.name
  • SY
    • SY.name
  • Simulation
    • Simulation.addImp()
    • Simulation.addSensor()
    • Simulation.attach()
    • Simulation.closeGripper()
    • Simulation.depthData2pointCloud()
    • Simulation.detach()
    • Simulation.getGripperIsGrasping()
    • Simulation.getGripperWidth()
    • Simulation.getGroundTruthPosition()
    • Simulation.getGroundTruthRotationMatrix()
    • Simulation.getGroundTruthSize()
    • Simulation.getImageAndDepth()
    • Simulation.getScreenshot()
    • Simulation.getState()
    • Simulation.getTimeToSplineEnd()
    • Simulation.get_q()
    • Simulation.get_qDot()
    • Simulation.loadTeleopCallbacks()
    • Simulation.openGripper()
    • Simulation.pushConfigurationToSimulator()
    • Simulation.resetSplineRef()
    • Simulation.selectSensor()
    • Simulation.setSplineRef()
    • Simulation.setState()
    • Simulation.step()
  • SimulationEngine
    • SimulationEngine.name
  • SolverReturn
    • SolverReturn.dict()
  • compiled()
  • depthImage2PointCloud()
  • getStartGoalPath()
  • params_add()
  • params_clear()
  • params_file()
  • params_print()
  • raiPath()
  • setRaiPath()

Indices and tables

• Index

• Module Index

• Search Page