Soft-arm Platform for Action, Rendering, and Control

Python tools for soft-arm playground - developing planning, control and renderings. The package explores the slender object using PyElastica simulation, and also includes experimental Virtual Field/WebXR runtime.

BSR Tutorial:

• Integration with Elastica
  • Convert .npz to .blend
  • Using Callback

Virtual Field:

• Introduction to Virtual Field Utilities
  • Terminology
  • What a mode controls
  • How to add a new mode
• Adding a Character
  • Dual Arm Overview
  • Interacting with Controller Data
  • Publishing Arm State and Assets
• Octo Arm Overview
  • What this base class provides
  • Typical shape
  • Current status
  • Notes for future work
• Python-WebXR Communication Scheme
  • Transport
  • Connection roles
  • Startup handshake
  • WebXR input sent to Python
  • Keepalive and reset
  • Scene updates sent from Python
  • Publisher messages
  • Error handling
  • Summary
• Common Virtual Field Utilities
  • TargetPoseProportionalControl

Custom Elastica:

• Growing arm (GrowingCR + boundary control)
  • Introduction
  • Mental model: active suffix
  • What _GrowingCRBoundaryConditions does
  • Example wiring

VR:

• VR Frontend Intro

API:

• Geometry - Primitives
• Geometry - Composite
• Handling Blender Files
• Handling Blender Frames
• Virtual Field Backend
• Virtual Field commands
• Virtual Field state
• Runtime Common Utilities

CLI Commands:

• CLI Commands
  • Elastica data converter

Indices and tables

• Index

• Module Index

• Search Page