Commit ea741681 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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Add instructions.

parent d0c89989
SOURCES = \
exercise-1.asciidoc \
exercise-2.asciidoc \
exercise-3.asciidoc
HTML_FILES=$(SOURCES:%.asciidoc=%.html)
all: $(HTML_FILES)
%.html: %.asciidoc
asciidoc --filter latex -a toc -a icons -o $@ $<
clean:
rm -f $(HTML_FILES)
Building a kinematics chain
===========================
Objective
---------
Build a biped robot by assembling joints and links
Displaying objects
------------------
Open a python terminal and go to the project directory.
By typing CTRL+SHIFT+T in the terminal, you can open another terminal in the
same window.
In the first terminal, type
[source,sh]
----
gepetto-gui
----
A window opens that we call the viewer.
In the second terminal, type
[source,python]
----
python -i example_display.py
----
You should see three objects in the viewer: a sphere, a box and a cylinder.
Look at the code in files
* +display.py+,
* +example_display.py+
Building a kinematic chain
--------------------------
In the first terminal, type
[source,sh]
----
gepetto-gui
----
In the second terminal, type
[source,python]
----
python -i example_robot.py
----
You should see a kinematic chain moving with constant joint velocity
Look at the code in files
* +robot_arm.py+,
* +example_robot.py+
Exercise 1
----------
image::biped-robot.png[width="15%",alt="biped robot"]
Build a kinematic chain composed of a trunc and two legs with six degrees of
freedom each. Each leg will be composed of the following joints
* a rotation joint around z axis (hip),
* a rotation joint around y axis (hip),
* a rotation joint around x axis (hip),
* a rotation joint around x axis (knee),
* a rotation joint around y axis (ankle),
* a rotation joint around z axis (ankle).
Write your code in file +legged_robot.py+.
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This diff is collapsed.
Computing inverse kinematics
============================
Objective
---------
Compute a configuration such that the trunk, left and right feet are in a
desired position given as input.
To do so, you will use numerical optimization
Numerical optimization
----------------------
File +example_scipy.py+ provides some basic examples of optimization problems
and solvers. In those example, the solver +fmin_bfgs+ takes as input
* a cost function +cost+,
* an initial guess +x0+ (initial value of the optimization variable),
* a callback function, instance of +CallbackLogger+,
and computes a value of the optimization variable that minimizes the cost
function under the constraints.
Exercise 2
----------
Implement a class called +InverseKinematics+ that takes at construction
* a robot,
with members
* +leftFootRefPose+ the pose of the left foot,
* +rightFootRefPose+ the pose of the right foot,
* +waistRefPose+ the pose of the waist.
with methods
* +cost+ that takes a configuration vector as input and the return a real
valued cost,
* +solve+ that takes as input an initial configuration and that returns
a configuration minimizing the pose error.
write your code in file +inverse_kinematics.py+.
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