humble jazzy kilted rolling github

No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

Package symbol

nexus_workcell_editor package from nexus repo

nexus_calibration nexus_capabilities nexus_cmake nexus_common nexus_demos nexus_endpoints nexus_gazebo nexus_lifecycle_manager nexus_motion_planner nexus_alarm_msgs nexus_calibration_msgs nexus_detector_msgs nexus_dispenser_msgs nexus_lifecycle_msgs nexus_motion_planner_msgs nexus_orchestrator_msgs nexus_transporter_msgs nexus_network_configuration nexus_robot_controller nexus_rviz_plugins nexus_system_orchestrator nexus_transporter nexus_workcell_editor nexus_workcell_orchestrator nexus_zenoh_bridge_dds_vendor

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.1
License	Apache License 2.0
Build type	AMENT_CARGO
Use	RECOMMENDED

Repository Summary

Description	A framework for orchestration
Checkout URI	https://github.com/osrf/nexus.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A GUI to assemble workcells

Additional Links

No additional links.

Maintainers

Yadunund

Authors

No additional authors.

nexus_workcell_editor/README.md

nexus_workcell_editor

A GUI for assembling workcells from components that is built off rmf_site.

Setup

Follow instructions here to setup ros2_rust.

Note: Checkout 9a845c17873cbdf49e8017d5f0af6d8f795589cc commit to include fix for https://github.com/ros2-rust/ros2_rust/issues/449.

Build

# source the ros distro and ros2_rust workspace.
cd ~/ws_nexus
rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> # Replace <DISTRO> with supported ROS 2 distro, eg. jazzy.
colcon build

Run

cd ~/ws_nexus
source ~/ws_nexus/install/setup.bash
ros2 run nexus_workcell_editor nexus_workcell_editor

CHANGELOG

Changelog for package nexus_workcell_editor

Forthcoming

Provides the nexus_workcell_editor application to graphically design a workcell using individual components and calibrate the poses of these components.

Package Dependencies

Deps	Name
	abb_irb910sc_support
	nexus_calibration_msgs
	rclrs

System Dependencies

Name
cargo
gtk3
libudev-dev
libasound2-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nexus_workcell_editor` at Robotics Stack Exchange

API Docs Browse Code Wiki