Basics

Getting started

• Installation using PIP
• Installation from source
  • System dependencies
  • Cloning and building
  • Using built Pythin bindings

Robot model

• Loading robots
  • Loading your Robot
  • Using URDF file
  • Flags
  • Using direct URDF contents
  • Using MuJoCo (MJCF) file
• Self-collisions
  • Configuring self-collision pairs
  • Using self-collisions
  • See also
• Joint configurations
  • Robot state
  • Retrieving all the joint names
  • Integrating
  • Joint limits
  • Adding configuration noise
  • Rotor inertia and gear ratio
• Frames
  • Frame to world transformation
  • Moving the robot in the world
  • Frame to frame transformation

Tools

• Frame tools
  • Frame yaw
  • Flatten on floor
  • Rotation from axis
  • Optimal transformation
• Interpolation
  • Frames interpolation
  • Cubic splines
  • 3D Cubic Splines

Visualization

• Visualization
  • Command-line visualization
  • Robot visualization
  • Custom frame
  • Points
  • Lines
  • Arrow