Tutorials
Getting Started
Pick a category below to explore hands-on tutorials for that part of the Telekinesis SDK - from 2D and 3D perception to robot motion, communication, and synthetic data. Most tutorials run with no real or simulated hardware and end with a result you can see live in Rerun.
Computer Vision Tutorials
Object Detection
Classical, deep learning, and open-vocabulary object detection with Retina.
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Image Segmentation
Color, threshold, superpixel, graph-based, and deep learning segmentation with Cornea.
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Image Processing
Bitwise ops, transforms, enhancement, filtering, and morphology with Pupil.
Explore →Point Cloud Processing
3D point cloud filtering, downsampling, and processing with Vitreous.
Explore →Robotics Tutorials
Robot Motion
Connect to a manipulator and command Cartesian and joint-space motion with Synapse.
Explore →Kinematics
Forward and inverse kinematics, solver setup, and link transforms with Synapse.
Explore →Servo Control
Stream high-frequency joint and Cartesian targets for smooth motion with Synapse.
Explore →State Reading
Read joint and Cartesian state, robot status, and controller diagnostics with Synapse.
Explore →TF Tutorials
Building a Tree
Construct a TransformTree and add, update, delete, rename, or graft frames onto it.
Explore →Querying and Restructuring
Look up transforms between frames, walk the tree's structure, and re-parent or copy it with TF.
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Visualization
Log a single frame or an entire tree to Rerun as labeled axis triads with TF.
Explore →Pose and Rotation Conversions
Convert between pose and rotation representations - degrees, radians, quaternions, and rotation vectors - with TF.
Explore →Hardware Interface Tutorials
Tools & Gripper Interface
Connect to and control an end-effector such as a gripper with Synapse.
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Camera Interface
Connect to cameras and sensors and stream live data with Medulla.
Explore →Camera Calibration Tutorials
Calibration Targets
Chessboard, ChArUco, and ArUco calibration boards, and the detection skills built on them, with Axon.
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Data Collection & Persistence
Drive a robot through a pose sweep and save or load calibration datasets with Axon.
Explore →Camera Calibrators
Intrinsic, eye-in-hand, and multi-camera calibration with Axon.
Explore →Benchmarking & Diagnostics
Cross-validate a calibration configuration and diagnose hand-eye datasets with Axon.
Explore →Data Engine Tutorials
Datatypes
The strongly typed contracts shared across every Skill and Agent.
Explore →Illusion - Flying Things
Scatter parts in mid-air against randomized backgrounds and render a labeled COCO dataset.
Explore →Illusion - Parts in a Bin
Drop parts into a bin, settle them with physics, and render a bin-picking dataset.
Explore →Illusion - Generating a Dataset with a Worker
Run a spec-driven dataset end to end: shards, merging, and train/valid/test splits.
Explore →Illusion - Tuning a Randomizer Tree in Blender
Load a spec, edit the randomizer tree with a live preview, and export the tuned YAML.
Explore →Infrastructure Tutorials
Reinforcement Learning Tutorials
Policy Training
Train a PPO policy in Gymnasium, mjlab or Isaac Lab, and configure the run, with RLBotics.
Explore →Policy Tuning and Deployment
Read the training curves, tune what matters, and export a policy to ONNX with RLBotics.
Explore →Custom Environments and Algorithms
Train against your own simulator or robot, and plug in an algorithm other than PPO, with RLBotics.
Explore →Where to Go Next?
Continue to the next tutorial.
Object Detection
Classical, deep learning, and open-vocabulary object detection with Retina.
Next tutorial →