From eb532a836b61ed2ece5f0d87b87c475e0639458d Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Mon, 28 Oct 2024 14:11:23 +0100
Subject: [PATCH] Update ReadMe
---
README.md | 18 +++++++++++++++++-
.../__pycache__/iiwa.launch.cpython-310.pyc | Bin 6485 -> 6485 bytes
.../__pycache__/__init__.cpython-310.pyc | Bin 0 -> 277 bytes
.../inverse_kinematics_node.cpython-310.pyc | Bin 0 -> 3408 bytes
.../__pycache__/__init__.cpython-310.pyc | Bin 0 -> 265 bytes
.../reference_node_1dof.cpython-310.pyc | Bin 0 -> 2196 bytes
.../transformation_node_1dof.cpython-310.pyc | Bin 0 -> 5983 bytes
7 files changed, 17 insertions(+), 1 deletion(-)
create mode 100644 ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/__pycache__/__init__.cpython-310.pyc
create mode 100644 ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/__pycache__/inverse_kinematics_node.cpython-310.pyc
create mode 100644 ros2_ws/src/simple_robot_1dof/simple_robot_1dof/__pycache__/__init__.cpython-310.pyc
create mode 100644 ros2_ws/src/simple_robot_1dof/simple_robot_1dof/__pycache__/reference_node_1dof.cpython-310.pyc
create mode 100644 ros2_ws/src/simple_robot_1dof/simple_robot_1dof/__pycache__/transformation_node_1dof.cpython-310.pyc
diff --git a/README.md b/README.md
index fbf17c1..f877cf0 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,23 @@
This workspace contains five simulations of two robots, the "simple robot" and the KUKA robot, following predefined trajectories. The packages are named according to the degrees of freedom (DoF) required by the "simple robot" to perform each motion: one simulation for 1 DoF, two for 2 DoF, and two for 3 DoF. Each movement can be executed with one of two velocity profiles—constant or trapezoidal.
+## Setup for the Kuka robots
+
+Quick guide for setting up the Kuka FRI with Ubuntu and ros2.
+
+Instructions for installing and using the repo are described below in the README.
+
+Additionally for inverse kinematics
+
+1. Follow Installation instructions:
+```
+https://github.com/NxRLab/ModernRobotics/tree/master/packages/Python
+```
+2. Run
+```
+pip install networkx==2.4 urdfpy mr-urdf-loader
+```
+
## Getting started
***Required setup : Ubuntu 22.04 LTS***
@@ -18,7 +35,6 @@ This workspace contains five simulations of two robots, the "simple robot" and t
```shell
sudo apt install python3-colcon-common-extensions
```
-
4. Pull relevant packages, install dependencies, compile, and source the workspace by using:
```shell
git clone https://gitlab.kit.edu/uquzq/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems.git
diff --git a/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc
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--
GitLab