User Guide

Prerequisites

You’ll need to know a bit of Python. For a refresher, see the Python tutorial.

To work with the examples, you’ll additionally need ROS2 installed.

The examples are meant to be run from a clone of this repository. If you encounter paths not working in your environment, make sure to use paths with respect to your custom setup.

If you want to convert the examples to Jupyter notebooks, you can use

pip install jupytext
cd semantic_world/examples
jupytext --to notebook *.md

Learning Objectives

The user guide is divided into multiple chapters teaching you the following topics:

• Fundamental topics

  • Loading worlds from files

  • Visualizing Worlds

  • Creating Custom Bodies

• Advanced Topics

  • World Structure Manipulation

  • World State Manipulation

  • Regions

  • Semantic Annotations (Views)

  • Persistence of annotated worlds

  • Synchronizing worlds across multiple processes

  • World factories

  • Pipelines

  • Simulation

  • Inverse Kinematics

  • Collision Checking

  • Casadi