ymontmarin / tps_robotic_ens_2023

Robotic course, ENS, 2023

This repository contains the exercices for the robotics class at ENS, 2023. 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.

Set up

Clone this repository

Using git and ssh

git clone [e-mail]:ymontmarin/tps_robotic_ens_2023.git

or https:

git clone https://github.com/ymontmarin/tps_robotic_ens_2023.git

Install miniconda

On Linux or OSX only: https://docs.conda.io/en/latest/miniconda.html Only a little snippet is applied tou your home .bashrc, everything else will be segmented !

Or use Anaconda on Windows and use conda prompt insteal of a terminal.

Go into the repository folder.

Open a terminal.

Create and activate conda environment:

conda env create -f robotic_course_env.yml

From now on, when you want to work on the TPs you only need to do:

conda activate robotic_course

And launch the notebook with:

jupyter-lab

Don't forget, the notebook is accessible from any browser using localhost:8888 in the adress bar. Meshcat visualisation can be access in full page in localhost:700N/static/ where N denotes the Nth meshcat instance created with the running kernel.

Update the notebooks

If the repository changes (for example when new tutorials are pushes), you need to update your local version by "pulling" it from the repository. On a native installation, just go in the folder containing the tutorials and execute git pull.