From 11a84df72532828a98215123d92b2a27c6c26625 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Mon, 7 Oct 2024 16:16:49 +0200
Subject: [PATCH] videos added
---
intro/intro_to_intro.md | 4 +--
linux/01_why_linux.md | 7 ++--
.../pinocchio_prez/presentation.nav | 19 ++++++----
.../pinocchio_prez/presentation.tex | 36 ++++++++++++++++---
video/03_code_overview.mkv | 3 ++
video/03_pinocchio_usage_in_library.mkv | 3 ++
...04_intro_to_lie_algebras_and_pinocchio.mkv | 3 ++
7 files changed, 59 insertions(+), 16 deletions(-)
create mode 100644 video/03_code_overview.mkv
create mode 100644 video/03_pinocchio_usage_in_library.mkv
create mode 100644 video/04_intro_to_lie_algebras_and_pinocchio.mkv
diff --git a/intro/intro_to_intro.md b/intro/intro_to_intro.md
index 4f3e278..521afce 100644
--- a/intro/intro_to_intro.md
+++ b/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)
diff --git a/linux/01_why_linux.md b/linux/01_why_linux.md
index 38acdfd..8483580 100644
--- a/linux/01_why_linux.md
+++ b/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
diff --git a/ur_simple_control/pinocchio_prez/presentation.nav b/ur_simple_control/pinocchio_prez/presentation.nav
index 4e6b224..3f80f7e 100644
--- a/ur_simple_control/pinocchio_prez/presentation.nav
+++ b/ur_simple_control/pinocchio_prez/presentation.nav
@@ -26,10 +26,17 @@
\headcommand {\beamer@framepages {34}{36}}
\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}}
-\headcommand {\beamer@subsectionpages {13}{38}}
-\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}}
diff --git a/ur_simple_control/pinocchio_prez/presentation.tex b/ur_simple_control/pinocchio_prez/presentation.tex
index 8a30942..e2c5a32 100755
--- a/ur_simple_control/pinocchio_prez/presentation.tex
+++ b/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!
diff --git a/video/03_code_overview.mkv b/video/03_code_overview.mkv
new file mode 100644
index 0000000..c9d57d2
--- /dev/null
+++ b/video/03_code_overview.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b8f29be1fcd2dbef011b14d0e80da817828990824acd83fd47b93eee44abd04
+size 272120570
diff --git a/video/03_pinocchio_usage_in_library.mkv b/video/03_pinocchio_usage_in_library.mkv
new file mode 100644
index 0000000..5dddf07
--- /dev/null
+++ b/video/03_pinocchio_usage_in_library.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:171223c6ba2fd28abd90419825c0782e24ad12d939e11a5ed9f8c76211fc47ae
+size 123175408
diff --git a/video/04_intro_to_lie_algebras_and_pinocchio.mkv b/video/04_intro_to_lie_algebras_and_pinocchio.mkv
new file mode 100644
index 0000000..3df3fcf
--- /dev/null
+++ b/video/04_intro_to_lie_algebras_and_pinocchio.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2dd0cd85fa5c6f4e468d3c385c54182fb5a493f116f04053f062aba55a8a303
+size 185689462
--
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