diff --git a/01_IntroductionToPython/01_Tutorial_PythonIntroduction.ipynb b/01_IntroductionToPython/01_Tutorial_PythonIntroduction.ipynb
index a40e5ca2ddcab1c56ce7f43734653f98b88b1edb..5461f1ee87eae2d7b5bea273aab4ad14406d1eb4 100644
--- a/01_IntroductionToPython/01_Tutorial_PythonIntroduction.ipynb
+++ b/01_IntroductionToPython/01_Tutorial_PythonIntroduction.ipynb
@@ -1,6 +1,7 @@
{
"cells": [
{
+ "attachments": {},
"cell_type": "markdown",
"id": "1a932130-baf8-499d-b2a2-16ec25b2b6b2",
"metadata": {},
@@ -11,9 +12,9 @@
"\n",
"## Task 1.1\n",
"\n",
- "The **forward_kinematics** function from the [forward_kinematics module](https://git.rwth-aachen.de/introduction-to-robotics-course/introduction-to-robotics-2023/-/blob/main/01_IntroductionToPython/forward_kinematics.py) is implemented for an manipulator of **n links** and **n+1 revolute joints** that starts from an **initial position** with all joint rotations $\\theta=0$.\n",
+ "The **forward_kinematics** function from the [forward_kinematics module](https://git.rwth-aachen.de/introduction-to-robotics-course/introduction-to-robotics-2023/-/blob/main/01_IntroductionToPython/forward_kinematics.py) is implemented for an manipulator of **n links** and **n+1 revolute joints** that starts from an **initial position** with all joint rotations $\\theta_i=0$.\n",
"\n",
- "Implement a function named **fk_task_1** inside the [forward_kinematics module](https://git.rwth-aachen.de/introduction-to-robotics-course/introduction-to-robotics-2023/-/blob/main/01_IntroductionToPython/forward_kinematics.py) that ***returns*** a list which contains for each time step all joint coordinates $x_i$ and $y_i$ for a manipulator (**n links** and **n+1 revolute joints**) with an initial joint rotation that is described by the current rotations $\\theta_{i,0}$ and the desired incremental joint rotations at time t $\\Delta\\theta_{i,t}$ for joint i. The base link is rotating around the given point $[x_0 = 0, y_0 = 1]$. \n",
+ "Implement a function named **fk_task_1** inside the [forward_kinematics module](https://git.rwth-aachen.de/introduction-to-robotics-course/introduction-to-robotics-2023/-/blob/main/01_IntroductionToPython/forward_kinematics.py) that ***returns*** a list which contains for each time step all joint coordinates $x_i$ and $y_i$ for a manipulator (**n links** and **n+1 revolute joints**) with an initial joint rotation that is described by the current rotations $\\theta_{i,t}$ for joint i at time t and the desired incremental joint rotations $\\Delta\\theta_{i,t+1}$ for joint i at time t + 1. The base link is rotating around the given point $[x_0 = 0, y_0 = 1]$. \n",
"\n",
"Test the implemented function inside this jupyter notebook in the following cells. Use the given structure to\n",
"\n",
@@ -24,20 +25,18 @@
" - initial joint roations $\\theta_{i,t=0}=[90,0,0,0,0]$ in degree\n",
" - incremental change of joint rotation $\\Delta\\theta_{i,t=1} = [0,0,90,-30,45]$\n",
"3. **Call** the 'fk_task_1' **function** and save the return values under appropriate named variables.\n",
- "4. **Create** a **plot** containing the initial manipulator position (red) and the position after incremental rotation (green).\n",
+ "4. **Create** a **plot** containing the initial manipulator position and the position after incremental rotation. Choose for each time step a different color.\n",
"\n",
- "**Hint:** Use the the data type [array](https://numpy.org/doc/stable/reference/arrays.ndarray.html) from the [numpy package](https://numpy.org/doc/stable/) to define define the variables which contains sequence of values. That allows you to use arithmetic operators directly on the variables.\n"
+ "**Hints:** \n",
+ "- Use the the data type [array](https://numpy.org/doc/stable/reference/arrays.ndarray.html) from the [numpy package](https://numpy.org/doc/stable/) to define the variables which contain a sequence of values. That allows you to use arithmetic operators directly on the variables.\n",
+ "- To implement **fk_task_1** you can make use of already existing functions inside of the [forward_kinematics module](https://git.rwth-aachen.de/introduction-to-robotics-course/introduction-to-robotics-2023/-/blob/main/01_IntroductionToPython/forward_kinematics.py).\n"
]
},
{
"cell_type": "code",
"execution_count": 54,
"id": "59a9ad77-e04e-40ac-83d6-2e379901020f",
- "metadata": {
- "vscode": {
- "languageId": "python"
- }
- },
+ "metadata": {},
"outputs": [],
"source": [
"# Use this cell to import the necessary modules"
@@ -47,11 +46,7 @@
"cell_type": "code",
"execution_count": 122,
"id": "2e47f84e-0363-4a6c-a148-41a4ef2614ea",
- "metadata": {
- "vscode": {
- "languageId": "python"
- }
- },
+ "metadata": {},
"outputs": [],
"source": [
"# Use this cell to define the gemoetry and rotation parameters"
@@ -61,11 +56,7 @@
"cell_type": "code",
"execution_count": 124,
"id": "22db17d3-491b-480d-87ac-eff27acb3712",
- "metadata": {
- "vscode": {
- "languageId": "python"
- }
- },
+ "metadata": {},
"outputs": [],
"source": [
"# Use this cell to call the function 'fk_task_1'"
@@ -75,11 +66,7 @@
"cell_type": "code",
"execution_count": 125,
"id": "c12897f2-b5d4-4f8c-9d22-0f9511780a23",
- "metadata": {
- "vscode": {
- "languageId": "python"
- }
- },
+ "metadata": {},
"outputs": [
{
"data": {
@@ -111,11 +98,7 @@
"cell_type": "code",
"execution_count": null,
"id": "9dfed8f7",
- "metadata": {
- "vscode": {
- "languageId": "python"
- }
- },
+ "metadata": {},
"outputs": [],
"source": [
"# Calculation of the incremental rotation steps to reach the final rotation position"
@@ -125,11 +108,7 @@
"cell_type": "code",
"execution_count": null,
"id": "1716ad7e",
- "metadata": {
- "vscode": {
- "languageId": "python"
- }
- },
+ "metadata": {},
"outputs": [],
"source": [
"# Use this cell to call the function 'fk_task_1'"
@@ -139,11 +118,7 @@
"cell_type": "code",
"execution_count": 134,
"id": "c698d670-1f83-4d34-9b96-4b1662878030",
- "metadata": {
- "vscode": {
- "languageId": "python"
- }
- },
+ "metadata": {},
"outputs": [
{
"data": {
@@ -168,7 +143,8 @@
"name": "python3"
},
"language_info": {
- "name": ""
+ "name": "python",
+ "version": "3.10.6"
}
},
"nbformat": 4,