Introduction
1.
Getting Started
1.1.
Optima Installation
1.2.
Rust Installation
1.3.
Robot Test
1.4.
Adding a Robot
1.5.
Python Setup
1.6.
WASM Setup
1.7.
Citing Optima
2.
Robots and Robot Sets
2.1.
Robots
2.2.
Robot Configurations
2.3.
Robot Sets
2.4.
Robot Set Configurations
2.5.
Joint States
3.
Robot Kinematics
3.1.
Forward Kinematics
3.2.
Robot Jacobians
4.
Intersection, Contact, and Proximity Checks
4.1.
Robot Geometric Shape Scenes
4.2.
Adding New Environment Mesh
4.3.
Intersection Checking
4.4.
Contact Checking
4.5.
Bounding Volume Hierarchies
4.6.
Proximity Checking
4.7.
Proximity Checking using Proxima
5.
Inverse Kinematics
5.1.
Static IK
5.2.
Motion IK
6.
Optimization
6.1.
Optima Tensors
6.2.
Optima Tensor Functions
6.3.
Optima Tensor Function Derivatives
6.4.
Nonlinear Optimization
Light (default)
Rust
Coal
Navy
Ayu
Optima Toolbox
Optima Tensors
Coming Soon