|
| 1 | +{ |
| 2 | + "cells": [ |
| 3 | + { |
| 4 | + "attachments": {}, |
| 5 | + "cell_type": "markdown", |
| 6 | + "metadata": {}, |
| 7 | + "source": [ |
| 8 | + "<a href=\"https://colab.research.google.com/github/haosulab/SAPIEN-tutorial/blob/master/robotics/1_getting_started_with_robot.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>" |
| 9 | + ] |
| 10 | + }, |
| 11 | + { |
| 12 | + "attachments": {}, |
| 13 | + "cell_type": "markdown", |
| 14 | + "metadata": {}, |
| 15 | + "source": [ |
| 16 | + "> Note: Some core features of SAPIEN are not available on Colab, including the interactive viewer and ray-tracing functionalities. You need to run SAPIEN locally for full features. You can also find the latest SAPIEN tutorial at [SAPIEN's documentation](https://sapien.ucsd.edu/docs/latest/index.html)." |
| 17 | + ] |
| 18 | + }, |
| 19 | + { |
| 20 | + "attachments": {}, |
| 21 | + "cell_type": "markdown", |
| 22 | + "metadata": {}, |
| 23 | + "source": [ |
| 24 | + "# Robotics in SAPIEN" |
| 25 | + ] |
| 26 | + }, |
| 27 | + { |
| 28 | + "attachments": {}, |
| 29 | + "cell_type": "markdown", |
| 30 | + "metadata": {}, |
| 31 | + "source": [ |
| 32 | + "In this tutorial series, you will learn how to use SAPIEN to work with robots and tackle basic robotics tasks." |
| 33 | + ] |
| 34 | + }, |
| 35 | + { |
| 36 | + "attachments": {}, |
| 37 | + "cell_type": "markdown", |
| 38 | + "metadata": {}, |
| 39 | + "source": [ |
| 40 | + "# Robotics Tutorial 1: Getting Started with Robot" |
| 41 | + ] |
| 42 | + }, |
| 43 | + { |
| 44 | + "attachments": {}, |
| 45 | + "cell_type": "markdown", |
| 46 | + "metadata": {}, |
| 47 | + "source": [ |
| 48 | + "In this tutorial, you will learn the following:\n", |
| 49 | + "\n", |
| 50 | + "- Load a robot (URDF)\n", |
| 51 | + "- Set joint positions\n", |
| 52 | + "- Compensate passive forces\n", |
| 53 | + "- Control the robot by torques" |
| 54 | + ] |
| 55 | + }, |
| 56 | + { |
| 57 | + "cell_type": "markdown", |
| 58 | + "metadata": { |
| 59 | + "id": "-IXA-7qRy4ML" |
| 60 | + }, |
| 61 | + "source": [ |
| 62 | + "## Preparation" |
| 63 | + ] |
| 64 | + }, |
| 65 | + { |
| 66 | + "attachments": {}, |
| 67 | + "cell_type": "markdown", |
| 68 | + "metadata": { |
| 69 | + "id": "ssNPcLKYDoDH" |
| 70 | + }, |
| 71 | + "source": [ |
| 72 | + "> Note: you need GPU runtime to run the notebook." |
| 73 | + ] |
| 74 | + }, |
| 75 | + { |
| 76 | + "cell_type": "code", |
| 77 | + "execution_count": null, |
| 78 | + "metadata": { |
| 79 | + "id": "qIDL-wHKzKQ5" |
| 80 | + }, |
| 81 | + "outputs": [], |
| 82 | + "source": [ |
| 83 | + "%pip install sapien\n", |
| 84 | + "\n", |
| 85 | + "import sapien.core as sapien\n", |
| 86 | + "import numpy as np\n", |
| 87 | + "from PIL import Image\n", |
| 88 | + "\n", |
| 89 | + "try:\n", |
| 90 | + " import google.colab\n", |
| 91 | + " IN_COLAB = True\n", |
| 92 | + "except:\n", |
| 93 | + " IN_COLAB = False" |
| 94 | + ] |
| 95 | + } |
| 96 | + ], |
| 97 | + "metadata": { |
| 98 | + "kernelspec": { |
| 99 | + "display_name": "Python 3", |
| 100 | + "language": "python", |
| 101 | + "name": "python3" |
| 102 | + }, |
| 103 | + "language_info": { |
| 104 | + "name": "python", |
| 105 | + "version": "3.8.10 (default, Nov 14 2022, 12:59:47) \n[GCC 9.4.0]" |
| 106 | + }, |
| 107 | + "orig_nbformat": 4, |
| 108 | + "vscode": { |
| 109 | + "interpreter": { |
| 110 | + "hash": "916dbcbb3f70747c44a77c7bcd40155683ae19c65e1c03b4aa3499c5328201f1" |
| 111 | + } |
| 112 | + } |
| 113 | + }, |
| 114 | + "nbformat": 4, |
| 115 | + "nbformat_minor": 2 |
| 116 | +} |
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