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MLR robotics course

This repo is based on RAI code, including its python bindings. See for a README of the RAI code.

Quick Start

This assumes a standard Ubuntu 16.04 machine.

WE DIDN'T GET TO RUN THIS WITH ANACONDA PYTHON. If you have Anaconda installed, please remove it from the PATH in .bashrc. The setup below will install the standard Ubuntu python3 and jupyter notebook.

git clone
cd robotics-course

git submodule init
git submodule update

make -j1 initUbuntuPackages  # calls sudo apt-get install; you can always interrupt
make -j4                     # builds libs and tests


python3 -m pip install --upgrade pip
python3 -m pip install jupyter
python3 -m pip install matplotlib

jupyter-notebook docs/1-basics.ipynb 

After loading the pr2 and the kitchen (running first 3 cells in the notebook), the simulator window should look similar to: Alt text

Updating after a pulling a new version

git submodule update
make -C rai dependAll
make -j4


Basics: Configurations, Features & Jacobians