Old Material

Potential material to reintegrate:

• Lab Course in Simulation
  • SimLab Exercise 1 - Basic Setup
    • a) Code Setup
    • b) Git Setup
    • c) Rough familiarity with Simulation and Configuration
  • SimLab Exercise 2 - Motion
    • a) Basic IK
    • b) Path Optimization & velocity/acceleration objectives
    • c) Explore collision features, and enforce touch
    • d) Interacting with “real” objects
    • e) Advanced: Tricky use of inequalities, scaling, and target
    • f) Advanced: Reactive Operational Space Control
  • SimLab Exercise 3 - OpenCV
    • a) OpenCV - color-based tracking
    • b) OpenCV - background substraction
  • SimLab Exercise 4 - Grasp
    • a) Grasp, lift & drop a hopping ball
    • b) Throw the ball
    • c) Bonus: …and for a box
  • SimLab - Project Proposal and Final Presentation
    • Project Proposal
    • Presentation Details
• Learning KOMO (K-Order Markov Optimization)
  • No dynamics? No velocities? How do you solve for dynamic problems?
  • What is KOMO?
  • What is KOMO – formally?
  • What are the main steps to define a KOMO problem?
  • Roughly, what does KOMO do with these specs?
  • Can KOMO only optimize paths?
  • Can I load an URDF?
  • First practical steps
    • Lesson 1: play around with $RAI/test/KOMO/tutorial
    • Lesson 2: Learn the addObjective method and the “Language of Features”
  • Features are at the core
  • Varying decision variables per time slice: kinematic switches & force contacts
  • Summary: there are only a few fundamental methods in KOMO, the rest are helpers
  • Steps, phase, real time, and time optimization
  • LINKS to more documentation
• Configuration
  • C’tor
  • Adding frames to the configuration
  • Copy, clear
  • Joint state: get/set, and selecting active joints
  • Frame state
  • Features: Anything you might want to compute from Configurations
  • Structural edits
  • Collision computations
  • Functions to create other classes (KOMO, Simulation, viewer, etc)
• .g-files to describe robot configurations
  • Editing using kinEdit
  • Import from URDF
  • Notation to specify transformations
  • Joint types
• Graph and .g-files
• Simulation
  • C’tor
  • Stepping physics
  • Opening & closing the gripper, and gripping state
  • Getting simulated RGB and depth images
  • Simulation states: restarting the simulation in previous states
  • Helper: depthData2pointCloud
• Array