Documentation

Details

RBS provides tutorial notebooks in src/robotblockset/tutorials for learning the core concepts and exploring specific backends and workflows. A suggested progression is:

Beginners

• tutorial_spatial_operations — spatial representations, transformations, and interpolation

• tutorial_motion_generation — motion and path generation

• tutorial_robots — working with robots

• tutorial_platforms — working with platforms

• tutorial_mobile_robots — working with mobile robots

• tutorial_graphics — graphics utilities

Intermediate

• tutorial_multi_robots — coordinated multi-robot systems

• tutorial_kinematic_models — analytical kinematic models

• tutorial_robot_path_and_trajectory_generation — robot paths and trajectories

• tutorial_optimal_trajectory — time-optimal trajectories

• tutorial_rbf — radial basis functions (RBF) for path encoding

• tutorial_dmp — dynamic motion primitives (DMP) for path encoding

• tutorial_mujoco — simulating robot systems with MuJoCo

• tutorial_generate_MJCF_scene — generating basic MJCF robot models

• tutorial_image_video_pymujoco — generating images and videos with MuJoCo

• tutorial_genesis — using the Genesis backend

• tutorial_robotiq_gripper — controlling a Robotiq gripper

• tutorial_franka_pandapy — controlling Franka robots through panda-py

• tutorial_ur_rtde — controlling Universal Robots through RTDE

Advanced

• tutorial_custom_controller_pymujoco — implementing custom PyMuJoCo controllers

• tutorial_generation_collision-free_trajectories — generating collision-free trajectories

• tutorial_moving_obstacle_trajectories — repairing collision-free trajectories after obstacles move

• tutorial_collision_free_trajectories_welded_objects — planning collision-free trajectories for robots with welded objects

• tutorial_calibrate_camera_charuco — camera calibration with a ChArUco board

• tutorial_calibrate_camera_checker — camera calibration with a checkerboard

• tutorial_calibrate_eye_in_hand_charuco — eye-in-hand camera calibration with a ChArUco board

• tutorial_franka_ros2 — controlling Franka robots through ROS 2

RBS also provides example notebooks and scripts in src/robotblockset/examples, which can be additional help when adapting the toolbox to your own robots, scenes, and applications.