From ba29266e4bec78c64f1d428fc371808bbe2f6340 Mon Sep 17 00:00:00 2001 From: Henrique Ferrolho Date: Thu, 12 Nov 2020 11:33:39 +0000 Subject: [PATCH] [Docs] Adds content to home page --- docs/src/assets/diagram.drawio | 1 + docs/src/assets/diagram.svg | 3 +++ docs/src/index.md | 35 +++++++++++++++++++++++++++++++++- docs/src/tutorial.md | 2 ++ 4 files changed, 40 insertions(+), 1 deletion(-) create mode 100644 docs/src/assets/diagram.drawio create mode 100644 docs/src/assets/diagram.svg diff --git a/docs/src/assets/diagram.drawio b/docs/src/assets/diagram.drawio new file mode 100644 index 0000000..fecc43d --- /dev/null +++ b/docs/src/assets/diagram.drawio @@ -0,0 +1 @@ +7VjbUtswEP2azLQPYXyLSR9DAoUpFIbAlD4qsWILZK+RZeLw9V3bcnyDAA2ZpNC8xHu0Wkl7dtdad8yhn3wXJPTOwKG8Y2hO0jFHHcPQdXMf/1JkkSO2/S0HXMEcpVQCY/ZIFagpNGYOjWqKEoBLFtbBKQQBncoaRoSAeV1tBry+akhc2gLGU8Lb6C/mSC9H+5pW4seUuZ5sDPik0FVA5BEH5hXIPOyYQwEg8yc/GVKe+q5wSz7v6JnR5b4EDeRrJnRPZmfDez7j9+fH+p3QzSE97fbV3uSiOC918PhKBCE9cCEg/LBEDwTEgUNTqxpKpc4pQIigjuAtlXKhuCSxBIQ86XM1ShMmbyrPv1NTez0ljRJlORMWSsj3mW7u2eMrKIJYTOmKM+tL52PQUvCpFAucJygnkj3U7RMVPe5Sbzn1AhiubGgq0pH5Pa3yM3IDKuotS6sblES4VCobJWsDIciiohamCtGKVQu7xTpaIwhe0rdq+viQ76CQKh4qoSyw3hBkypcPhMfKu5cwgXRXqlzYHCk8mAh8cmVGdo7MINt7GZ32fQzFQDfK4muACroWJuVgYeXL9eXo6GthC3eemyuWaMR9GdVpWM49Juk4JFkgzbGy1SNYHYgKSZPV8diOs6QoFDUizH0lz8sioxelw6sUGLsRSNXIrND4dpbMFkvXERVdh85YgH7B2UEY57FYcxy6QNa9E0kBd3QIHAQiAQRp1ZgxzhsQ4cwNUJyiyyjiB6lDGZbegRrwmeNkJecpOuplKOW2KFv6BugxX0mPsSl6vm2jUr9j1bU/ctXt72DVtVv5fCFgwqnfrrcjGk0FCyWDYNfqotXbdl3UrX/ljoQeFoubqlCZlYrltEzaxN1KsZAn2irFdW9h63GqtZLjzXcO66k7x9X55WDvlm/k0lF9g3YM0+nRvmO1Xrc40jcmpm2/Tzq28lHfej7u/8/H1+dj0TK/mI/rvp/X47TdIvw8vUBgDBzDd2MdwkkIYTofM8fQfgQMM2lnGwareYnYfiYaLdauBAmev0t8zFbhr1u5jfUKeruXO0dGfPZIPhEvzYTZAV56bV5iiV31J2HE1naOkXaXVHybwlJ2S6cS1CrbLP1Nv22y9KNYfpPOe9Hyw755+Ac= \ No newline at end of file diff --git a/docs/src/assets/diagram.svg b/docs/src/assets/diagram.svg new file mode 100644 index 0000000..b375a26 --- /dev/null +++ b/docs/src/assets/diagram.svg @@ -0,0 +1,3 @@ + + +
Robot Model
(URDF)
Robot Model...
User-defined inputs
User-defined inputs
Problem
Description
Problem...
TORA.jl
TORA.jl
NLP Solver
(Ipopt or Knitro)
NLP Solver...
Transcription
Transcription
Optimization
Optimization
Output
Output
Robot Trajectory
Robot TrajectoryViewer does not support full SVG 1.1 \ No newline at end of file diff --git a/docs/src/index.md b/docs/src/index.md index b9b01fa..c5214f7 100644 --- a/docs/src/index.md +++ b/docs/src/index.md @@ -1,3 +1,36 @@ # TORA.jl -Documentation for TORA.jl +*TORA* stands for **T**rajectory **O**ptimization for **R**obot **A**rms. + +To get started, see the [Tutorial](@ref). + +## Summary + +This package allows users to define tasks for robot manipulators with simple *high-level descriptions*. Then, TORA.jl does the heavy-lifting! +It converts those descriptions into numerical optimization problems, which are in turn tackled by state-of-the-art solvers. +The final result of the optimization is a full trajectory (joint *positions*, joint *velocities*, and joint *torques*) taking into account the whole-body dynamics of the system. +These trajectories can be commanded to your favourite robot, either in simulation or in real life. + +```@raw html +
+ diagram +
Diagram 1. Intended use of this package.
+
+``` + +## Functionality + +Currently, the highlights of TORA.jl are as follows: + +- Simple interface to define constrained motion-planning problems +- Formulation of the optimal control problem using *Direct Transcription* +- Optimization of NLP problems using state-of-the-art solvers ([Ipopt.jl](https://github.com/jump-dev/Ipopt.jl) and [KNITRO.jl](https://github.com/jump-dev/KNITRO.jl)) +- Full system dynamics enforced with either *forward* or *inverse* dynamics ([RigidBodyDynamics.jl](https://github.com/JuliaRobotics/RigidBodyDynamics.jl)) +- Automatic differentiation of sparse Jacobians ([ForwardDiff.jl](https://github.com/JuliaDiff/ForwardDiff.jl) and [SparseDiffTools.jl](https://github.com/JuliaDiff/SparseDiffTools.jl)) +- Automatic sparsity detection of Jacobians ([SparsityDetection.jl](https://github.com/SciML/SparsityDetection.jl)) +- Visualization of robot models and motion plans ([MeshCat.jl](https://github.com/rdeits/MeshCat.jl)) + +## About + +Overall, the *direct transcription* technique implemented in TORA.jl stems from: +- Betts, John T. [*Practical Methods for Optimal Control and Estimation Using Nonlinear Programming*](https://epubs.siam.org/doi/book/10.1137/1.9780898718577). SIAM, 2010. diff --git a/docs/src/tutorial.md b/docs/src/tutorial.md index ef6471f..5a22fd6 100644 --- a/docs/src/tutorial.md +++ b/docs/src/tutorial.md @@ -1,5 +1,7 @@ # Tutorial +This tutorial assumes you have already installed Julia and TORA.jl. See [Installation](@ref). + !!! info A [Jupyter](https://jupyter.org/) notebook of this tutorial is available [here](https://github.com/ferrolho/TORA.jl/blob/main/notebooks/Tutorial.ipynb).