├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Makefile ├── README.md ├── bin ├── baxterSetup.bash ├── baxterStart.sh ├── baxterTuck.sh └── baxterwlansetup.sh ├── config.mk ├── course1-Lectures ├── 01-kinematics │ ├── Makefile │ ├── human.g │ ├── kinematics.ipynb │ └── main.cpp ├── 02-kinematics │ ├── Makefile │ ├── human.g │ ├── kinematics.ipynb │ └── main.cpp ├── 03-dynamics │ ├── Makefile │ ├── dynamics.ipynb │ ├── main.cpp │ ├── pegArm.g │ └── pegArm2.g ├── 04-riccati │ ├── Makefile │ ├── draw_object.py │ ├── main.cpp │ └── riccati.ipynb ├── 05-stability │ ├── Makefile │ ├── draw_object.py │ ├── main.cpp │ └── stability.ipynb ├── 06-rrt │ ├── Makefile │ ├── main.cpp │ ├── pegInAHole.g │ └── rrt.ipynb ├── 07-particle_filter │ ├── Makefile │ ├── car.g │ ├── carSimulator.py │ ├── draw_object.py │ ├── main.cpp │ └── particle_filter.ipynb ├── 08-kalman │ ├── Makefile │ ├── carSimulator.py │ ├── draw_object.py │ ├── kalman.ipynb │ └── main.cpp └── old │ ├── 02-pegInAHole │ ├── Makefile │ ├── main.cpp │ └── pegInAHole.ors │ ├── 04-endeffDistribution │ └── Makefile │ ├── 04-rrt │ ├── Makefile │ ├── q.optim │ └── q.rrt │ ├── 05-car │ ├── Makefile │ ├── car.ors │ └── main.problem.cpp │ ├── 06-kalmanSLAM │ ├── Makefile │ └── main.problem.cpp │ ├── 07-cartPole │ ├── Makefile │ └── main.cpp │ ├── 08-pinBalancing │ ├── Makefile │ ├── main.problem.cpp │ └── pin_balancing.ors │ ├── 09-racer │ ├── Makefile │ ├── main.problem.cpp │ ├── plt │ ├── plt0 │ ├── plt1 │ ├── plt2 │ └── plt3 │ ├── 10-racerRegression │ ├── MT.cfg │ ├── Makefile │ ├── cubicPredictions │ └── plt │ ├── 11-racerSearch │ ├── MT.cfg │ ├── Makefile │ ├── actparcmaes.par │ ├── errcmaes.err │ ├── main.problem.cpp │ └── plt │ ├── 12-bandits │ ├── Makefile │ └── main.cpp │ ├── 13-bayesOpt │ ├── MT.cfg │ ├── Makefile │ └── main.cpp │ ├── roboticsCourse10 │ ├── Makefile │ ├── main.problem.cpp │ ├── maze.png │ └── maze.ppm │ ├── roboticsCourse11 │ ├── Makefile │ ├── data │ ├── dataF │ ├── dataFilter │ ├── dataReal │ └── main.problem.cpp │ ├── roboticsCourse12 │ ├── Makefile │ ├── main.problem.cpp │ └── man.ors │ ├── roboticsCourse3 │ ├── Makefile │ ├── arm3.ors │ ├── arm7.ors │ └── main.problem.cpp │ ├── roboticsCourse6 │ ├── Makefile │ ├── arm7.ors │ └── man.ors │ ├── roboticsCourse8 │ ├── Makefile │ └── main.problem.cpp │ └── roboticsCourse9 │ ├── Makefile │ └── main.problem.cpp ├── course2-Baxter ├── 01-baxterMini │ ├── Makefile │ ├── main.cpp │ └── motion.ipynb ├── 02-cameraMini │ ├── Makefile │ ├── main.cpp │ ├── model.g │ ├── opencv-oldPython2.ipynb │ └── opencv.ipynb ├── 03-tracking │ ├── Makefile │ ├── main.cpp │ └── rai.cfg ├── 04-calibration │ ├── Makefile │ ├── help.cpp │ ├── help.h │ ├── main.cpp │ ├── model.g │ └── rai.cfg └── external │ ├── .gitignore │ └── installBaxterSources.sh ├── course3-Simulation ├── 01-test │ ├── Makefile │ ├── main.cpp │ ├── main.ipynb │ ├── model.g │ └── rai.cfg ├── 02-kinematics │ ├── Makefile │ ├── e01-circling.ipynb │ ├── kinematics.ipynb │ ├── main.cpp │ ├── main.ipynb │ └── myRobot.g ├── 03-motion │ ├── Makefile │ ├── main.cpp │ └── main.ipynb ├── 04-opencv │ ├── Makefile │ ├── main.cpp │ ├── main.ipynb │ └── opencv-oldPython2.ipynb ├── 05-grasp │ ├── Makefile │ ├── main.cpp │ └── main.ipynb └── playground │ ├── Makefile │ └── main.cpp ├── course4-Panda ├── .gitignore ├── Makefile ├── mini.g ├── rai.cfg ├── real1-hold.ipynb ├── real2-compliance.ipynb ├── script1-Scene.ipynb ├── script2-IK.cpp ├── script2-IK.ipynb ├── script2-solution.ipynb ├── script3-BotOp.ipynb ├── script4-PathOpt.ipynb ├── script5-PathFind.ipynb ├── script6-Grasp.ipynb ├── script7-Push.ipynb ├── texture.g ├── vision1-depth2pointCloud.ipynb └── vision2-opencv.ipynb ├── docs ├── .gitignore ├── .nojekyll ├── Makefile ├── _images │ ├── tutorials_1a-configurations_57_0.png │ ├── tutorials_1b-botop_26_0.png │ ├── tutorials_1c-komo_36_0.png │ ├── tutorials_rendering_16_0.png │ ├── tutorials_rendering_19_0.png │ ├── tutorials_rendering_25_0.png │ └── tutorials_rendering_5_0.png ├── _static │ ├── _sphinx_javascript_frameworks_compat.js │ ├── basic.css │ ├── css │ │ ├── badge_only.css │ │ ├── fonts │ │ │ ├── Roboto-Slab-Bold.woff │ │ │ ├── Roboto-Slab-Bold.woff2 │ │ │ ├── Roboto-Slab-Regular.woff │ │ │ ├── Roboto-Slab-Regular.woff2 │ │ │ ├── fontawesome-webfont.eot │ │ │ ├── fontawesome-webfont.svg │ │ │ ├── fontawesome-webfont.ttf │ │ │ ├── fontawesome-webfont.woff │ │ │ ├── fontawesome-webfont.woff2 │ │ │ ├── lato-bold-italic.woff │ │ │ ├── lato-bold-italic.woff2 │ │ │ ├── lato-bold.woff │ │ │ ├── lato-bold.woff2 │ │ │ ├── lato-normal-italic.woff │ │ │ ├── lato-normal-italic.woff2 │ │ │ ├── lato-normal.woff │ │ │ └── lato-normal.woff2 │ │ └── theme.css │ ├── doctools.js │ ├── documentation_options.js │ ├── file.png │ ├── jquery.js │ ├── js │ │ ├── badge_only.js │ │ ├── html5shiv-printshiv.min.js │ │ ├── html5shiv.min.js │ │ └── theme.js │ ├── language_data.js │ ├── minus.png │ ├── nbsphinx-broken-thumbnail.svg │ ├── nbsphinx-code-cells.css │ ├── nbsphinx-gallery.css │ ├── nbsphinx-no-thumbnail.svg │ ├── plus.png │ ├── pygments.css │ ├── searchtools.js │ └── sphinx_highlight.js ├── genindex.html ├── getting_started.html ├── index.html ├── old │ ├── _Array.html │ ├── _Configuration.html │ ├── _ConfigurationFiles.html │ ├── _Graph.html │ ├── _Simulation.html │ ├── komo.html │ ├── old.html │ ├── simlab.html │ ├── simlab1.html │ ├── simlab2.html │ ├── simlab3.html │ ├── simlab4.html │ ├── simlab5.html │ └── skeleton.html ├── py-modindex.html ├── rai.html ├── script │ └── script.html ├── search.html ├── searchindex.js ├── source │ ├── Makefile │ ├── conf.py │ ├── getting_started.md │ ├── getting_started.rst │ ├── index.rst │ ├── make-rst.sh │ ├── old │ │ ├── _Array.rst │ │ ├── _Configuration.rst │ │ ├── _ConfigurationFiles.rst │ │ ├── _Graph.rst │ │ ├── _Simulation.rst │ │ ├── komo.rst │ │ ├── old.rst │ │ ├── simlab.rst │ │ ├── simlab1.rst │ │ ├── simlab2.rst │ │ ├── simlab3.rst │ │ ├── simlab4.rst │ │ ├── simlab5.rst │ │ └── skeleton.rst │ ├── rai.rst │ ├── script │ │ ├── Makefile │ │ └── script.rst │ ├── tutorials │ └── tutorials.rst ├── tutorials.html └── tutorials │ ├── 1a-configurations.html │ ├── 1a-configurations.ipynb │ ├── 1b-botop.html │ ├── 1b-botop.ipynb │ ├── 1c-komo.html │ ├── 1c-komo.ipynb │ ├── 1d-real.html │ ├── 1d-real.ipynb │ ├── botop3-vision-toBeMerged.html │ ├── botop3-vision.html │ ├── botop3-vision.ipynb │ ├── botop4-examples.html │ ├── botop4-examples.ipynb │ ├── cameraview.html │ ├── cameraview.ipynb │ ├── configurationEditing.html │ ├── configurationEditing.ipynb │ ├── features.html │ ├── features.ipynb │ ├── komo-reporting.html │ ├── komo-reporting.ipynb │ ├── komo1-IK-toBeMerged.html │ ├── komo1-IK-toBeMerged.ipynb │ ├── komo2-PathOptimization-toBeMerged.html │ ├── komo2-PathOptimization-toBeMerged.ipynb │ ├── komo3-switches-skeletons.html │ ├── komo3-switches-skeletons.ipynb │ ├── nlp-solver.html │ ├── nlp-solver.ipynb │ ├── opt1-basics.html │ ├── 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