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motion-spec
motion-spec

Guide

  • Setup
  • Concepts
  • motion-spec codegen architecture
  • Sim/real parity
  • Control loop timing
  • Dashboard
  • Build and run
    • Generate, build, and run
    • Run one generation repeatedly
    • Validate and inspect

Authoring language

  • DSL authoring
    • DSL concepts
    • Quantity expressions
    • DSL tutorials
      • Hands-on: pick_and_place
      • Dual-arm pick and place
      • Arc motion and admittance

About

  • Acknowledgement
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Build and runΒΆ

This walkthrough follows one generation through the CLI in order:

  1. generate model artifacts;

  2. build the generated controller;

  3. run the build and create a run archive;

  4. replay and inspect the result.

They use pick_and_place.robmot from the sibling motion-spec-dsl project. Complete Generate, build, and run first; the other pages reuse its generation/pick-place directory.

  • Generate, build, and run
  • Run one generation repeatedly
  • Validate and inspect
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Generate, build, and run
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