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rasb:lab:05 [2026/07/01 17:39] andrei.batasev |
rasb:lab:05 [2026/07/03 23:38] (current) andrei.batasev |
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| Line 15: | Line 15: | ||
| code . | code . | ||
| </code> | </code> | ||
| + | <note tip> | ||
| + | For docker users, you may try to simulate with this setup, {{:rasb:lab:pupper_viz.tar.gz|download this}} and then do these following commands: | ||
| + | <code> | ||
| + | tar -xvf pupper_viz.tar.gz | ||
| + | cd pupper_viz/ | ||
| + | docker build -t pupper_viz . | ||
| + | </code> | ||
| + | Once done, you may paste your forward_kinematics solution into the lab_2.py and then | ||
| + | <code> | ||
| + | ./run.sh | ||
| + | </code> | ||
| + | </note> | ||
| === Step 3. Understanding the Code Structure === | === Step 3. Understanding the Code Structure === | ||
| Before we start implementing the ''TODOs'', let's understand the structure of the ''lab_2.py'' file: | Before we start implementing the ''TODOs'', let's understand the structure of the ''lab_2.py'' file: | ||
| Line 82: | Line 93: | ||
| {{:rasb:lab:base_back_kinematics.png?500|}} | {{:rasb:lab:base_back_kinematics.png?500|}} | ||
| - During the testing with rviz2, write a script that saves the sequence of your well-crafted motion, recorded as end effector positions into a file. You will have a chance to let Pupper replay this recorded motion in the next lab! You will need to use the joint_states topic to record the motor angles, and the leg_front_l_end_effector_position topic to record the end effector positions. | - During the testing with rviz2, write a script that saves the sequence of your well-crafted motion, recorded as end effector positions into a file. You will have a chance to let Pupper replay this recorded motion in the next lab! You will need to use the joint_states topic to record the motor angles, and the leg_front_l_end_effector_position topic to record the end effector positions. | ||
| - | |||
