Commit 1c572f8b authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

[exercise-1] Add instructions to append legs to translation joints.

parent b205a890
......@@ -55,8 +55,8 @@ Look at the code in files
* +robot_arm.py+,
* +example_robot.py+
Exercise 1
----------
Exercise 1.1
------------
image::biped-robot.png[width="15%",alt="biped robot"]
......@@ -72,4 +72,15 @@ freedom each. Each leg will be composed of the following joints
* a rotation joint around y axis (ankle),
* a rotation joint around x axis (ankle).
Write your code in file +legged_robot.py+.
\ No newline at end of file
Write your code in file +legged_robot.py+.
Exercise 1.2
------------
Append your kinematic chain to 3 prismatic joints
* a prismatic joint along x,
* a prismatic joint along y,
* a prismatic joint along z.
Use +JointModelPX+,+JointModelPY+,+JointModelPZ+ from module +pinocchio+.
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN"
"http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en">
<head>
<meta http-equiv="Content-Type" content="application/xhtml+xml; charset=UTF-8" />
<meta name="generator" content="AsciiDoc 8.6.9" />
<meta name="generator" content="AsciiDoc 8.6.10" />
<title>Building a kinematics chain</title>
<style type="text/css">
/* Shared CSS for AsciiDoc xhtml11 and html5 backends */
......@@ -754,7 +755,7 @@ By typing CTRL+SHIFT+T in the terminal, you can open another terminal in the
same window.</p></div>
<div class="paragraph"><p>In the first terminal, type</p></div>
<div class="listingblock">
<div class="content"><!-- Generator: GNU source-highlight 3.1.8
<div class="content"><!-- Generator: GNU source-highlight
by Lorenzo Bettini
http://www.lorenzobettini.it
http://www.gnu.org/software/src-highlite -->
......@@ -763,7 +764,7 @@ gepetto-gui</tt></pre></div></div>
<div class="paragraph"><p>A window opens that we call the viewer.</p></div>
<div class="paragraph"><p>In the second terminal, type</p></div>
<div class="listingblock">
<div class="content"><!-- Generator: GNU source-highlight 3.1.8
<div class="content"><!-- Generator: GNU source-highlight
by Lorenzo Bettini
http://www.lorenzobettini.it
http://www.gnu.org/software/src-highlite -->
......@@ -790,14 +791,14 @@ python <span style="color: #990000">-</span>i example_display<span style="color:
<div class="sectionbody">
<div class="paragraph"><p>In the first terminal, type</p></div>
<div class="listingblock">
<div class="content"><!-- Generator: GNU source-highlight 3.1.8
<div class="content"><!-- Generator: GNU source-highlight
by Lorenzo Bettini
http://www.lorenzobettini.it
http://www.gnu.org/software/src-highlite -->
<pre><tt>gepetto-gui</tt></pre></div></div>
<div class="paragraph"><p>In the second terminal, type</p></div>
<div class="listingblock">
<div class="content"><!-- Generator: GNU source-highlight 3.1.8
<div class="content"><!-- Generator: GNU source-highlight
by Lorenzo Bettini
http://www.lorenzobettini.it
http://www.gnu.org/software/src-highlite -->
......@@ -819,7 +820,7 @@ http://www.gnu.org/software/src-highlite -->
</div>
</div>
<div class="sect1">
<h2 id="_exercise_1">Exercise 1</h2>
<h2 id="_exercise_1_1">Exercise 1.1</h2>
<div class="sectionbody">
<div class="imageblock">
<div class="content">
......@@ -846,7 +847,7 @@ a rotation joint around x axis (hip),
</li>
<li>
<p>
a rotation joint around x axis (knee),
a rotation joint around y axis (knee),
</p>
</li>
<li>
......@@ -863,12 +864,36 @@ a rotation joint around x axis (ankle).
<div class="paragraph"><p>Write your code in file <code>legged_robot.py</code>.</p></div>
</div>
</div>
<div class="sect1">
<h2 id="_exercise_1_2">Exercise 1.2</h2>
<div class="sectionbody">
<div class="paragraph"><p>Append your kinematic chain to 3 prismatic joints</p></div>
<div class="ulist"><ul>
<li>
<p>
a prismatic joint along x,
</p>
</li>
<li>
<p>
a prismatic joint along y,
</p>
</li>
<li>
<p>
a prismatic joint along z.
</p>
</li>
</ul></div>
<div class="paragraph"><p>Use <code>JointModelPX</code>,<code>JointModelPY</code>,<code>JointModelPZ</code> from module <code>pinocchio</code>.</p></div>
</div>
</div>
</div>
<div id="footnotes"><hr /></div>
<div id="footer">
<div id="footer-text">
Last updated
2019-12-03 14:17:31 CET
2019-12-19 11:53:54 CET
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