All tutorials are jupyter notebooks, downloadable from https://github.com/MarcToussaint/rai-tutorials. For installation instructions, see Getting Started.

The first 3 are intro tutorials that introduce essentials for understanding the code:

  • Configurations: The core data structure used to represent scenes and robots, compute features, and feed into optimization problems, simulations, and real robot control.

  • BotOp: The Robot Operation interface used to control a real or simulated robot, as well as to access sensors.

  • KOMO: A framework to formulate optimization problems, esp. for motion design (IK, path optimization, and manipulation planning).

The remaining tutorials cover various topics in more depth: