Examples

This section presents different concepts and code examples that are supported by the library. There are multiple ways to run the examples. Many of them can be executed from any python environment, for instance:

• An interactive python session.

• An IDE or text editor (e.g. Sublime Text, Visual Studio Code, Eclipse, etc)

• Inside a CAD environment (e.g. Rhino, Grasshopper, Blender).

Robotic fabrication examples

• 1. Fundamentals
  • 1.1. Frame and Transformation
  • 1.2. Coordinate frames
• 2. Description Models
  • 2.1. Kinematic model
  • 2.2. Robot models
• 3. Backends: ROS
  • 3.1. Using ROS
  • 3.2. Robots in ROS
  • 3.3. Forward and inverse kinematics
  • 3.4. Planning scene and collision objects
  • 3.5. Plan motion
  • 3.6. ROS in Grasshopper
  • 3.7. Creating a URDF with an UR5 robot and a custom end-effector
  • 3.8. Creating a MoveIt! package from the custom created URDF
  • 3.9. Creating a URDF of the UR10 on two linear axes
• 4. Backends: V-REP
  • 4.1. Simulation examples with V-REP
• 5. Backends: PyBullet
  • 5.1. Using PyBullet
  • 5.2. Forward and inverse kinematics