├── .editorconfig ├── .github ├── fork.png ├── pull-request.png ├── pull_request_template.md └── workflows │ ├── check-markdown-links.yml │ ├── markdown-link-check.json │ └── test-install.yml ├── .gitignore ├── LICENSE ├── README.md ├── data └── README.md ├── docker ├── first-steps │ └── docker-compose.yml ├── gofa-rrc-noetic │ └── docker-compose.yml ├── moveit-noetic │ └── docker-compose.yml ├── moveit-rrc-noetic-update │ └── docker-compose.yml ├── moveit-rrc-noetic │ ├── docker-compose.yml │ └── scripts │ │ ├── demo.launch │ │ └── move_group.launch └── scara-rrc-noetic │ ├── abb_irb910sc_3_065_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── chomp_planning.yaml │ │ ├── fake_controllers.yaml │ │ ├── irb910.srdf │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ ├── ros_controllers.yaml │ │ └── sensors_3d.yaml │ ├── launch │ │ ├── chomp_planning_pipeline.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── demo_gazebo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── gazebo.launch │ │ ├── irb910_moveit_controller_manager.launch.xml │ │ ├── irb910_moveit_sensor_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── ros_controllers.launch │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ ├── abb_irb910sc_support │ ├── CMakeLists.txt │ ├── config │ │ └── joint_names_irb910sc_3_065.yaml │ ├── meshes │ │ └── irb910sc_3_065 │ │ │ ├── collision │ │ │ ├── base.obj │ │ │ ├── base_link.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ └── link4.obj │ │ │ └── visual │ │ │ ├── base.obj │ │ │ ├── base_link.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ └── link4.obj │ ├── package.xml │ └── urdf │ │ └── irb910sc_3_065.urdf │ ├── docker-compose.yml │ └── scripts │ ├── demo.launch │ └── move_group.launch ├── environment.yml ├── lecture_01 ├── 001_primitives.py ├── 002_primitives_operations.py ├── 003_primitives_constructors.py ├── 004_primitives_equivalence.py ├── 005_primitives_transforms.py ├── 006_shapes.py ├── 007_shapes_artist.py ├── 010_mesh_artist.py ├── 013_mesh_from_scratch.py ├── 014_mesh_plotter.py ├── 015_mesh_info_vertex_degree.py ├── 016_mesh_info_vertices_on_boundary.py ├── 017_mesh_info_face_neighbors.py ├── 018_mesh_info_vertex_neighbors.py ├── 019_mesh_info_edge_strip.py ├── 020_mesh_info_edge_loop.py ├── 021_mesh_vertex_normals_artist.py ├── 022_mesh_flip_cycles_artist.py ├── 023_mesh_info_artist.py ├── 024_mesh_booleans.py ├── 025_mesh_booleans_artist.py ├── 030_network_from_scratch.py ├── 031_network_from_scratch_artist.py ├── 032_network_node_attr_artist.py ├── 033_network_neighbors.py ├── 034_network_info_shortest_path.py ├── 035_network_serialization.py ├── 036_network_serialization_complex_type.py ├── 039_network_koch.py ├── 040_rpc_basic_example.py ├── README.md └── lecture_01.pdf ├── lecture_02 ├── 101_several_ways_to_construct_frame.py ├── 102_point_in_frame.py ├── 103_frame_in_frame.py ├── 104_box_from_the_world_to_local.py ├── 105_box_from_the_world_to_local_artist.py ├── 106_examples_transformation.py ├── 107_inverse_transformation.py ├── 108_premultiply_transformations.py ├── 109_pre_vs_post_multiplication.py ├── 110_decompose_transformation.py ├── 111_transform_point_and_vector.py ├── 112_transform_multiple.py ├── 113_change_basis_and_transformation_between_frames.ghx ├── 113_change_basis_transformation.py ├── 114_transformation_between_frames.py ├── 115_box_from_the_world_to_local_artist.py ├── 116_several_ways_to_construct_rotation.py ├── 117_robot_tcp_orientations.py ├── 118_euler_angles.py ├── 118_rotations.ghx ├── 119_axis_angle.py ├── 120_quaternion.py ├── 211_joint_types.py ├── 212_configuration.py ├── 213_forward_kinematics.py ├── 214_forward_kinematics_artist.py ├── 215_inverse_kinematics.py ├── 216_inverse_kinematics_artist.py ├── 217_inverse_kinematics.ghx ├── 218_inverse_kinematics_dh_params.py ├── README.md ├── assignment_01 │ ├── HangZhangZ │ │ └── assignment_01.py │ ├── Jingwen_Wang │ │ └── assignment01.py │ ├── LinCheWei │ │ └── assignment_01.py │ ├── Maxence_Grangeot │ │ └── assignment_01.py │ ├── MingYang_Wang │ │ └── assignment_01.py │ ├── README.md │ ├── ananya_kango │ │ └── assignment_01.py │ ├── andrea_settimi │ │ └── assignment_01.py │ ├── chris_norcross │ │ ├── Assignment01_ChrisNorcross.py │ │ └── project_box.jpg │ ├── farzaneh_eskandari │ │ └── assignment-01 │ ├── gabriele_mattei │ │ └── assignment_01.py │ ├── hanbing_zhao │ │ └── assignment-01 │ ├── kunal_chadha │ │ ├── assignment_01_kunal.jpg │ │ └── assignment_01_kunal.py │ ├── lena_kitani │ │ └── assignment_01.py │ ├── nickolas_maslarinos │ │ └── assignment_01 │ ├── project_box.jpg │ ├── vasilis_aloutsanidis │ │ └── assignment_01.py │ └── wenjun_liu │ │ └── assignment_01.py └── lecture_02.pdf ├── lecture_03 ├── 201_visualize_model_artist.py ├── 202_visualize_model_with_meshes_artist.py ├── 203_robot_from_local.py ├── 204_robot_from_github.py ├── 205_robot_from_github_artist.py ├── 206_robot_update_artist.py ├── 207_robot_artist_grasshopper.ghx ├── 208_robot_from_ros.py ├── 209_define_programmatically.py ├── 210_build_your_own_robot.py ├── 211_joint_types.py ├── 212_configuration.py ├── 213_forward_kinematics.py ├── 214_forward_kinematics_artist.py ├── 215_inverse_kinematics.py ├── 216_inverse_kinematics_artist.py ├── 217_inverse_kinematics.ghx ├── 218_inverse_kinematics_dh_params.py ├── 307_forward_kinematics_ros_loader.py ├── 308_inverse_kinematics_ros_loader.py ├── README.md ├── assignment_02 │ ├── README.md │ └── robot_model.jpg ├── lecture_03.pdf └── models │ ├── 01_myfirst.urdf │ ├── 02_multipleshapes.urdf │ ├── 03_origins.urdf │ ├── 04_origins.urdf │ ├── 05_origins_meshes.urdf │ ├── 06_with_colors.urdf │ └── basic │ ├── box.obj │ └── cylinder.obj ├── lecture_04 ├── 301_check_connection.py ├── 302_ros_hello_world_listener.py ├── 303_ros_hello_world_talker.py ├── 304_ros_hello_world_talker.ghx ├── 305_robot_from_ros.py ├── 306_robot_from_ros_artist.py ├── 307_forward_kinematics_ros.py ├── 308_inverse_kinematics_ros.py ├── 309_plan_cartesian_motion_ros.py ├── 310_plan_cartesian_motion_ros_artist.py ├── 311_plan_motion_ros.py ├── 312_plan_motion_ros_artist.py ├── 313_constraints.py ├── 314_planning_scene.ghx ├── 315_add_collision_mesh.py ├── 316_append_collision_meshes.py ├── 317_remove_collision_mesh.py ├── README.md ├── assignment_03 │ ├── README.md │ ├── gonzalocasas │ │ ├── assignment_03.py │ │ └── solution_viewer.ghx │ ├── robot_ik.png │ └── solution_viewer.ghx ├── helpers.py └── lecture_04.pdf ├── lecture_05 ├── 314_planning_scene.ghx ├── 315_add_collision_mesh.py ├── 316_append_collision_meshes.py ├── 317_remove_collision_mesh.py ├── 400_attach_tool.py ├── 401_detach_tool.py ├── 410_plan_cartesian_motion_ros.py ├── 411_plan_cartesian_motion_ros_with_tool.py ├── 412_plan_motion_ros.py ├── 413_plan_motion_ros_with_tool.py ├── 414_constraints.py ├── 420_pick_and_place.py ├── 421_pick_and_place_artist.ghx ├── README.md ├── helpers.py ├── lecture_05.pdf └── vacuum_gripper.stl ├── lecture_06 ├── 501_example_1D.py ├── 502_example_2D_deviation_vectors.py ├── 503_example_2D_sphere_points.py ├── 504_reachability_map.ghx ├── 521_linear_order.py ├── 522_color_mixing_lattice.py ├── 523_color_mixing_lattice_artist.py ├── 524_partial_order.py ├── 525_network_concepts.py ├── 526_networkx.py ├── 530_pick_and_place_assembly.py ├── 531_viewer.ghx ├── README.md ├── helpers.py ├── lecture_06.pdf └── vacuum_gripper.stl ├── lecture_07 ├── 521_linear_order.py ├── 522_color_mixing_lattice.py ├── 523_color_mixing_lattice_artist.py ├── 524_partial_order.py ├── 525_network_concepts.py ├── 526_networkx.py ├── 601_assembly_design.ghx ├── 603_assembly_planning.py ├── 605_viewer.ghx ├── 610_assign_default_sequence.py ├── 611_assign_linear_sequence.py ├── 612_assembly_sequence.py ├── README.md ├── assignment_04 │ ├── README.md │ └── assembly.png ├── helpers.py ├── lecture_07.pdf └── vacuum_gripper.stl ├── lecture_08 ├── 701_hello_world.py ├── 702_send.py ├── 703_send_and_wait.py ├── 704_send_and_wait_in_the_future.py ├── 705_set_tool.py ├── 706_set_work_object.py ├── 707_set_acceleration.py ├── 708_set_max_speed.py ├── 709_get_and_move_to_frames.py ├── 710_get_and_move_to_joints.py ├── 711_get_and_move_to_robtarget.py ├── 712_move_to_home.py ├── 713_no-op.py ├── 714_print_text.py ├── 715_wait_time.py ├── 716_stop.py ├── 717_watch.py ├── 718_custom_instruction.py ├── 719_input_analog.py ├── 720_input_digital.py ├── 721_input_group.py ├── 722_output_analog.py ├── 723_output_digital.py ├── 724_output_group.py ├── README.md └── lecture_08.pdf ├── lecture_09 ├── 801_robot_cell.ghx ├── 801_robot_cell_test.gh ├── 801_robot_cell_test.ghx ├── 802_assemblies.ghx ├── README.md ├── assembly.json ├── vacuum-gripper-collision.stl └── vacuum-gripper-visual.stl ├── lecture_10 ├── 1_planar_slicing_simple │ ├── 1_planar_slicing_simple.gh │ ├── 1_planar_slicing_simple.py │ └── data │ │ ├── distorted_a_closed_mid_res.stl │ │ └── simple_vase_open_low_res.obj ├── 1_planar_slicing_simple_SOLUTION │ ├── 1_planar_slicing_simple.gh │ ├── 1_planar_slicing_simple.py │ └── data │ │ ├── distorted_a_closed_mid_res.stl │ │ └── simple_vase_open_low_res.obj ├── 2_scalar_field_slicing │ ├── data │ │ └── _mesh.obj │ ├── scalar_field_slicing.gh │ └── scalar_field_slicing.py ├── 2_scalar_field_slicing_SOLUTION │ ├── data │ │ └── _mesh.obj │ ├── scalar_field_slicing.gh │ └── scalar_field_slicing.py └── README.md ├── lecture_11 ├── 1_curved_slicing │ ├── curved_slicing.gh │ ├── curved_slicing.py │ └── data │ │ ├── _mesh.obj │ │ ├── boundaryHIGH.json │ │ └── boundaryLOW.json ├── 1_curved_slicing_SOLUTION │ ├── curved_slicing.gh │ ├── curved_slicing.py │ └── data │ │ ├── _mesh.obj │ │ ├── boundaryHIGH.json │ │ └── boundaryLOW.json ├── 2_your_own_function │ ├── 2_your_own_function.gh │ ├── 2_your_own_function.py │ ├── data │ │ └── simple_vase_open_low_res.obj │ └── my_slicing_texture.py ├── 2_your_own_function_SOLUTION │ ├── 2_your_own_function.gh │ ├── 2_your_own_function.py │ ├── data │ │ ├── distorted_a_closed_mid_res.stl │ │ └── simple_vase_open_low_res.obj │ └── my_slicing_texture.py ├── README.md └── assignment_05 │ ├── README.md │ ├── andrea_settimi │ ├── 2_your_own_function.gh │ ├── 2_your_own_function.py │ ├── data │ │ └── simple_vase_open_low_res1.obj │ └── my_slicing_texture.py │ ├── kunal_chadha │ ├── 2_your_own_function.py │ ├── assignment 05_kunal_chadha_00.jpg │ ├── assignment_05_kunalchadha.gh │ ├── assignment_kunal_chadha_01.JPG │ ├── data │ │ ├── Shape.gh │ │ ├── simple_vase.mtl │ │ ├── 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