videos added

intro/intro_to_intro.md

@@ -56,7 +56,7 @@ In particular we will cover:
 ----------------------
 0. basic info 
 1. Docker 
-2. ur_simple_control 
+2. Simple Manipulator Control
 3. pinocchio 
 4. inverse kinematics theory and implementation 
-5. practical use
+5. practical use example (stream-type video implementing new control loop)

linux/01_why_linux.md

@@ -10,15 +10,14 @@
    - literally every supercomputer runs Linux
    - raspberry pi on robot - example: chalmers car
    - note you probably want a controller/PLC for hard real time guarantees tho
---> it's your host computer that's the exception,
-    this simplifies life drastically
---> it's the same system, learn it once know it for all cases
+--> it's your host computer that's the exception (but doesn't have to be)
+--> it's the same system everywhere, learn it once know it for all cases
 4. best CLI
 
 ## why CLI?
 ----------
 0. no GUI on server or raspberry pi --> example: ssh into something
-1. gives errors
+1. gives errors, necessary for debugging
 2. everything is text, you're closer to the truth
 3. you can program the computer itself
 4. the only path to a script is writting the commands into a file

ur_simple_control/pinocchio_prez/presentation.nav

@@ -26,10 +26,17 @@
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 \headcommand {\slideentry {2}{0}{7}{37/37}{}{0}}
 \headcommand {\beamer@framepages {37}{37}}
-\headcommand {\slideentry {2}{0}{8}{38/38}{}{0}}
+\headcommand {\beamer@sectionpages {13}{37}}
+\headcommand {\beamer@subsectionpages {13}{37}}
+\headcommand {\sectionentry {3}{Resources}{38}{Resources}{0}}
+\headcommand {\slideentry {3}{0}{1}{38/38}{}{0}}
 \headcommand {\beamer@framepages {38}{38}}
-\headcommand {\beamer@partpages {1}{38}}
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-\headcommand {\beamer@sectionpages {13}{38}}
-\headcommand {\beamer@documentpages {38}}
-\headcommand {\gdef \inserttotalframenumber {8}}
+\headcommand {\slideentry {3}{0}{2}{39/49}{}{0}}
+\headcommand {\beamer@framepages {39}{49}}
+\headcommand {\slideentry {3}{0}{3}{50/50}{}{0}}
+\headcommand {\beamer@framepages {50}{50}}
+\headcommand {\beamer@partpages {1}{50}}
+\headcommand {\beamer@subsectionpages {38}{50}}
+\headcommand {\beamer@sectionpages {38}{50}}
+\headcommand {\beamer@documentpages {50}}
+\headcommand {\gdef \inserttotalframenumber {9}}

ur_simple_control/pinocchio_prez/presentation.tex

@@ -112,7 +112,7 @@ sorting=ynt
 
 \title{Pinocchio library overview and basic usage}
 
-\subtitle{Sneaky intro to Lie groups in robotics}
+\subtitle{+ Sneaky intro to Lie groups in robotics}
 
 \author{Marko Guberina}
 
@@ -154,7 +154,7 @@ sorting=ynt
 		\pause
 \item body vs space frames
 		\pause
-\item getSE3error (in code) - lie algebra - take it for granted or watch the whole video
+\item log6 (in code) - lie algebra - take it for granted or watch the whole video
 		\pause
 \item cheatsheet overview - just mention dynamics calls
 		\pause
@@ -288,8 +288,36 @@ the book for this to make sense (show Ch3 summary)
 \end{itemize}
 \end{frame}
 
-
-
+\section{Resources}
+\begin{frame}{Resources}
+\small
+\begin{itemize}[label=\ding{95}]
+		\pause
+\item Pinocchio documentation
+		\pause
+\item Pinocchio tutorials
+		\pause
+\item \textbf{books}:
+		\begin{itemize}[label=\ding{96}]
+		\pause
+				\item Modern Robotics: Park, Lynch
+		\pause
+				\item A Mathematical Introduction to Robotic Manipulation: Murray, Li, Sastry
+		\pause
+				\item Robotics: Modelling, Planning and Control: Siciliano, Sciavicco, Villani, Oriolo
+		\pause
+				\item Handbook of robotics - many authors
+		\end{itemize}
+		\pause
+\item lectures: 
+		\begin{itemize}
+		\pause
+				\item Jonathan Evans: Lie groups and Lie algebras (on youtube)
+		\pause
+				\item Kevin Lynch: video supplement for above book, yt and website
+		\end{itemize}
+\end{itemize}
+\end{frame}
 
 \begin{frame}[focus]
 Thank you for your attention!