Tutorials

All tutorials are jupyter notebooks, downloadable from https://github.com/MarcToussaint/rai-tutorials

For installation instructions, see Getting Started.

Basics on Configurations, BotOp & KOMO

This round of 4 tutorials builds on each other and gives a first idea what this lib is about.

• Configurations
• BotOp (Robot Operation) interface
• KOMO: Motion Optimization
• Starting with a real robot
• Differentiable Features & Collision Evaluation

In Depth

There is no special ordering of the following. Each goes deeper in one particular part of the lib.

• 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)