Skip to content

Commit

Permalink
docu notebooks via rai-python submodule
Browse files Browse the repository at this point in the history
  • Loading branch information
@MarcToussaint
MarcToussaint committed Sep 28, 2023
1 parent 4138cd5 commit a9f1446
Show file tree
Hide file tree
Showing 71 changed files with 621 additions and 9,611 deletions.
3 changes: 3 additions & 0 deletions .gitmodules
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,3 +4,6 @@
[submodule "rai-robotModels"]
path = rai-robotModels
url = https://github.com/Jung-Su/rai-robotModels.git
[submodule "rai-python"]
path = rai-python
url = https://github.com/MarcToussaint/rai-python.git
2 changes: 1 addition & 1 deletion docs/Makefile
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ help:
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

clean:
rm -Rf notebooks tut script old *.html _static _sources searchindex.js objects.inv .doctrees/
rm -Rf notebooks tut script old *.html _static _sources searchindex.js objects.inv _images/ .doctrees/

.PHONY: help Makefile

Expand Down
8 changes: 4 additions & 4 deletions docs/genindex.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Index &mdash; Robotics Course documentation</title>
<title>Index &mdash; Robotics Python Library documentation</title>
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
Expand All @@ -30,7 +30,7 @@


<a href="index.html" class="icon icon-home">
Robotics Course
Robotics Python Library
</a>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="search.html" method="get">
Expand All @@ -43,7 +43,7 @@
<p class="caption" role="heading"><span class="caption-text">Contents:</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="getting_started.html">1. Getting Started</a></li>
<li class="toctree-l1"><a class="reference internal" href="notebooks/notebooks.html">2. Tutorials</a></li>
<li class="toctree-l1"><a class="reference internal" href="notebooks.html">2. Tutorials</a></li>
<li class="toctree-l1"><a class="reference internal" href="script/script.html">3. Lecture Script</a></li>
<li class="toctree-l1"><a class="reference internal" href="old/old.html">4. Old Material</a></li>
<li class="toctree-l1"><a class="reference internal" href="rai.html">5. rai python API</a></li>
Expand All @@ -55,7 +55,7 @@

<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
<a href="index.html">Robotics Course</a>
<a href="index.html">Robotics Python Library</a>
</nav>

<div class="wy-nav-content">
Expand Down
16 changes: 8 additions & 8 deletions docs/getting_started.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />

<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>1. Getting Started &mdash; Robotics Course documentation</title>
<title>1. Getting Started &mdash; Robotics Python Library documentation</title>
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
Expand All @@ -20,8 +20,8 @@
<script src="_static/js/theme.js"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="next" title="2. Tutorials" href="notebooks/notebooks.html" />
<link rel="prev" title="Welcome to the Robotics Course Repo" href="index.html" />
<link rel="next" title="2. Tutorials" href="notebooks.html" />
<link rel="prev" title="Robotic Control Interface &amp; Manipulation Planning Library" href="index.html" />
</head>

<body class="wy-body-for-nav">
Expand All @@ -33,7 +33,7 @@


<a href="index.html" class="icon icon-home">
Robotics Course
Robotics Python Library
</a>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="search.html" method="get">
Expand All @@ -51,7 +51,7 @@
<li class="toctree-l2"><a class="reference internal" href="#installing-the-tutorial-notebooks">1.3. Installing the tutorial notebooks</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="notebooks/notebooks.html">2. Tutorials</a></li>
<li class="toctree-l1"><a class="reference internal" href="notebooks.html">2. Tutorials</a></li>
<li class="toctree-l1"><a class="reference internal" href="script/script.html">3. Lecture Script</a></li>
<li class="toctree-l1"><a class="reference internal" href="old/old.html">4. Old Material</a></li>
<li class="toctree-l1"><a class="reference internal" href="rai.html">5. rai python API</a></li>
Expand All @@ -63,7 +63,7 @@

<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
<a href="index.html">Robotics Course</a>
<a href="index.html">Robotics Python Library</a>
</nav>

<div class="wy-nav-content">
Expand Down Expand Up @@ -144,8 +144,8 @@ <h2><span class="section-number">1.3. </span>Installing the tutorial notebooks<a
</div>
</div>
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
<a href="index.html" class="btn btn-neutral float-left" title="Welcome to the Robotics Course Repo" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
<a href="notebooks/notebooks.html" class="btn btn-neutral float-right" title="2. Tutorials" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
<a href="index.html" class="btn btn-neutral float-left" title="Robotic Control Interface &amp; Manipulation Planning Library" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
<a href="notebooks.html" class="btn btn-neutral float-right" title="2. Tutorials" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
</div>

<hr/>
Expand Down
58 changes: 26 additions & 32 deletions docs/index.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />

<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Welcome to the Robotics Course Repo &mdash; Robotics Course documentation</title>
<title>Robotic Control Interface &amp; Manipulation Planning Library &mdash; Robotics Python Library documentation</title>
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
<!--[if lt IE 9]>
Expand Down Expand Up @@ -32,7 +32,7 @@


<a href="#" class="icon icon-home">
Robotics Course
Robotics Python Library
</a>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="search.html" method="get">
Expand All @@ -45,7 +45,7 @@
<p class="caption" role="heading"><span class="caption-text">Contents:</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="getting_started.html">1. Getting Started</a></li>
<li class="toctree-l1"><a class="reference internal" href="notebooks/notebooks.html">2. Tutorials</a></li>
<li class="toctree-l1"><a class="reference internal" href="notebooks.html">2. Tutorials</a></li>
<li class="toctree-l1"><a class="reference internal" href="script/script.html">3. Lecture Script</a></li>
<li class="toctree-l1"><a class="reference internal" href="old/old.html">4. Old Material</a></li>
<li class="toctree-l1"><a class="reference internal" href="rai.html">5. rai python API</a></li>
Expand All @@ -57,15 +57,15 @@

<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
<a href="#">Robotics Course</a>
<a href="#">Robotics Python Library</a>
</nav>

<div class="wy-nav-content">
<div class="rst-content">
<div role="navigation" aria-label="Page navigation">
<ul class="wy-breadcrumbs">
<li><a href="#" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item active">Welcome to the Robotics Course Repo</li>
<li class="breadcrumb-item active">Robotic Control Interface &amp; Manipulation Planning Library</li>
<li class="wy-breadcrumbs-aside">
</li>
</ul>
Expand All @@ -74,20 +74,17 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">

<section id="welcome-to-the-robotics-course-repo">
<h1>Welcome to the Robotics Course Repo<a class="headerlink" href="#welcome-to-the-robotics-course-repo" title="Permalink to this heading"></a></h1>
<p>Github repo: <a class="reference external" href="https://github.com/MarcToussaint/robotics-course">https://github.com/MarcToussaint/robotics-course</a></p>
<p>This repository is used in three lectures:</p>
<ul class="simple">
<li><p>The Introduction To Robotics lecture at <a class="reference external" href="https://www.user.tu-berlin.de/mtoussai/teaching/14-Robotics/">U Stuttgart</a></p></li>
<li><p>The Lab Course with the Real Baxter we offered for some years at <a class="reference external" href="https://ipvs.informatik.uni-stuttgart.de/mlr/teaching/practical-course-robotics-ss-19/">U Stuttgart</a></p></li>
<li><p>And now the Lab Course using simulation at both, TU Berlin and U Stuttgart</p></li>
</ul>
<p>They all share the same core code, but have quite different
installation setups and exercises. Embedded below are exercises for
the lab course in simulation, and generic documentation of the
code. The code documentation refers to python interfaces – but these
are almost identical to how users should use C++.</p>
<section id="robotic-control-interface-manipulation-planning-library">
<h1>Robotic Control Interface &amp; Manipulation Planning Library<a class="headerlink" href="#robotic-control-interface-manipulation-planning-library" title="Permalink to this heading"></a></h1>
<p>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.</p>
<p>These python bindings were developed for easier access to the underlying
[C++](<a class="reference external" href="https://github.com/MarcToussaint/rai">https://github.com/MarcToussaint/rai</a>) code base, esp. for teaching and students. This code base is how we, in
the (Learning &amp; Intelligent Systems
Lab)[<a class="reference external" href="https://argmin.lis.tu-berlin.de/">https://argmin.lis.tu-berlin.de/</a>], operate our robots.</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Contents:</span></p>
<ul>
Expand All @@ -97,27 +94,24 @@ <h1>Welcome to the Robotics Course Repo<a class="headerlink" href="#welcome-to-t
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#installing-the-tutorial-notebooks">1.3. Installing the tutorial notebooks</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="notebooks/notebooks.html">2. Tutorials</a><ul>
<li class="toctree-l2"><a class="reference internal" href="notebooks/notebooks.html#st-round-basics-on-configurations-botop-komo">2.1. 1st Round: Basics on Configurations, BotOp &amp; KOMO</a><ul>
<li class="toctree-l1"><a class="reference internal" href="notebooks.html">2. Tutorials</a><ul>
<li class="toctree-l2"><a class="reference internal" href="notebooks.html#basics-on-configurations-botop-komo">2.1. Basics on Configurations, BotOp &amp; KOMO</a><ul>
<li class="toctree-l3"><a class="reference internal" href="notebooks/1a-configurations.html">2.1.1. Configurations</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/1b-botop.html">2.1.2. Robot Operation (BotOp) interface</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/1c-komo.html">2.1.3. KOMO: Motion Optimization</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/1d-real.html">2.1.4. Starting with a real robot</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="notebooks/notebooks.html#more-in-depth">2.2. More in depth</a><ul>
<li class="toctree-l2"><a class="reference internal" href="notebooks.html#in-depth">2.2. In Depth</a><ul>
<li class="toctree-l3"><a class="reference internal" href="notebooks/core2-features.html">2.2.1. Features</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/core3-configurations.html">2.2.2. Importing, Editing &amp; Manipulating Configurations</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/komo1-IK-toBeMerged.html">2.2.3. Inverse Kinematics as Optimization (to be merged)</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/komo2-PathOptimization.html">2.2.4. Path optimization example</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/komo2-PathOptimization-toBeMerged.html">2.2.5. Path Optimization (to be merged)</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/komo3-switches-skeletons.html">2.2.6. Advanced: Switches &amp; Skeletons</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/botop2-realRobotStarters.html">2.2.7. Starting with a real robot</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/botop3-vision.html">2.2.8. First example to grap images from a webcam</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/botop4-examples.html">2.2.9. Example for grasping in Sim</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/sim1-physics.html">2.2.10. Direct simulation interface</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/opt1-basics.html">2.2.11. Optimization (NLP formulation and solving)</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/script5-PathFind.html">2.2.12. Path finding example</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/komo2-PathOptimization.html">2.2.3. Path optimization example</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/komo3-switches-skeletons.html">2.2.4. Advanced: Switches &amp; Skeletons</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/botop3-vision.html">2.2.5. First example to grap images from a webcam</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/botop4-examples.html">2.2.6. Example for grasping in Sim</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/sim1-physics.html">2.2.7. Direct simulation interface</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/opt1-basics.html">2.2.8. Optimization (NLP formulation and solving)</a></li>
<li class="toctree-l3"><a class="reference internal" href="notebooks/script5-PathFind.html">2.2.9. Path finding example</a></li>
</ul>
</li>
</ul>
Expand Down
Loading

0 comments on commit a9f1446

Please sign in to comment.