diff --git a/doc/rcfs.pdf b/doc/rcfs.pdf index 8dc1b0611350433e08269f3528baaa55a1ff7b63..3549eb61368a91f8e27655b1186a4893bd7c65e8 100644 Binary files a/doc/rcfs.pdf and b/doc/rcfs.pdf differ diff --git a/doc/rcfs.tex b/doc/rcfs.tex index 70b287459f2ee71f003a1adc54aa279d8d7c8d56..a8af112019c488a5363655f4102bdff6679ab0ee 100644 --- a/doc/rcfs.tex +++ b/doc/rcfs.tex @@ -1,3 +1,4 @@ +%requires compilation with lualatex \documentclass[10pt,a4paper]{article} %twocolumn \usepackage{graphicx,amsmath,amssymb,bm,xcolor,soul,nicefrac,listings,algorithm2e,dsfont,caption,subcaption,wrapfig,sidecap} \usepackage[hidelinks]{hyperref} @@ -74,7 +75,7 @@ innerleftmargin=0.3em,innerrightmargin=0.3em,innertopmargin=0.3em,innerbottommar \newcommand{\tmin}{{\scriptscriptstyle\min}} \newcommand{\tmax}{{\scriptscriptstyle\max}} %\newcommand{\filename}[1]{{\raggedleft\colorbox{rr2}{{\color{white}\texttt{#1}}}\\[2mm]}} -\newcommand{\filename}[1]{\colorbox{rr2}{\color{white}\texttt{#1}}} +\newcommand{\filename}[1]{\colorbox{rr2}{\color{white}{\emojifont🦉}\texttt{#1}}} \newcommand{\new}{{\!\scriptscriptstyle\mathrm{new}}} %\usepackage{hyperref} @@ -96,7 +97,11 @@ innerleftmargin=0.3em,innerrightmargin=0.3em,innertopmargin=0.3em,innerbottommar % urlcolor=black %} -\title{\huge A Math Cookbook for Robot Manipulation} +\usepackage{fontspec} +\newfontfamily\emojifont[Renderer=HarfBuzz]{NotoColorEmoji.ttf} %,SizeFeatures={Size=20} +%-> requires compilation with lualatex + +\title{\huge {\emojifont🔢🧑🍳🦾} A Math Cookbook for Robot Manipulation} %Learning and Optimization in Robotics\\[4mm]\emph{Lecture notes} %A practical guide to learning and control problems in robotics\\solved with second-order optimization \author{Sylvain Calinon, Idiap Research Institute} @@ -120,7 +125,7 @@ This cookbook presents several learning and optimal control recipes for robotics %\url{https://gitlab.idiap.ch/rli/robotics-codes-from-scratch} \end{center}%\\ -Each section in this report lists the corresponding source codes in Python and Matlab (ensuring full compatibility with GNU Octave), as well as in C++ and Julia for some of the principal examples, which can be accessed at: +Each section in this document lists the corresponding source codes in Python and Matlab (ensuring full compatibility with GNU Octave), as well as in C++ and Julia for some of the principal examples, which can be accessed at: \begin{center} \url{https://gitlab.idiap.ch/rli/robotics-codes-from-scratch} \end{center} @@ -2264,7 +2269,7 @@ In the next sections, we show examples of functions $\bm{f}(\bm{x})$ that can re \begin{figure} \centering -\includegraphics[width=.7\columnwidth]{images/transformations01.jpg} +\includegraphics[width=.5\columnwidth]{images/transformations01.jpg} \caption{\footnotesize Typical transformations involved in a manipulation task involving a robot, a vision system, a visual marker on the object, and a desired grasping location on the object. } diff --git a/matlab/IK_manipulator.m b/matlab/IK_manipulator.m index 5f2492cf1cbdd2d723405ea88b6de58c5de87525..db97e5173f69e6cf5ebad9f13d72a26b8eb64f6b 100644 --- a/matlab/IK_manipulator.m +++ b/matlab/IK_manipulator.m @@ -6,7 +6,7 @@ %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/> %% License: GPL-3.0-only -function IK +function IK_manipulator %% Parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%