Robotic course, ENS M1, 2024

This repository contains the exercices for the robotics class at ENS in 2024. The exercices are organized by notebook. Each notebook corresponds to one chapter of the class. The notebooks are in Python and based on the software Pinocchio.

Getting started

Clone this repository

Using Git via SSH:

git clone [email protected]:ymontmarin/tps_robotics_ens_2024.git

Or via HTTPS:

git clone https://github.com/ymontmarin/tps_robotics_ens_2024.git

Install miniconda

• Linux: https://docs.conda.io/en/latest/miniconda.html
• macOS: https://docs.conda.io/en/latest/miniconda.html
• Windows: https://www.anaconda.com/download/

Only a little snippet is applied to your home .bashrc, everything else will be segmented!

Run a notebook

• Go to your local copy of the repository.
• Open a terminal.
• Create the conda environment:

conda env create -f robotics_course_env.yml

From there on, to work on a tutorial notebook, you only need to activate the environment:

conda activate robotics_course

Then launch the notebook with:

jupyter-lab

The notebook will be accessible from your web browser at localhost:8888.

Meshcat visualisation can be access in full page in localhost:700N/static/ where N denotes the Nth meshcat instance created with the running kernel.

Updating the notebooks

If the repository changes (for instance when new tutorials are pushed) you will need to update your local copy of it by "pulling" from the repository. To do so, go to the directory containing the tutorials and run:

git pull