Welcome to the documentation!

Contents:

• Setup and installation
  • Preparation
    • JSON-LD metamodels
    • Code generator
    • Generated code
  • Building and execution
  • Documentation
• Tutorial
  • JSON-LD
  • Single arm motion
    • Motion specification
    • Initial world model
    • 3D-1D maps via views
    • Constraint handlers
    • Solver specification
  • Dual arm workspace alignment
    • Motion specification
    • Initial world model
    • 3D-to-1D maps via operators
    • Constraint handlers
    • 1D-to-3D maps via operators
  • Real-world demo
    • Robot performing alignment to a table.
  • Discussion
  • References
• Acknowledgement