Basic pick and place

(part 2)

MIT 6.881: Robotic Manipulation

Fall 2020, Lecture 4

Follow live at https://slides.com/russtedrake/fall20-lec04/live

(or later at https://slides.com/russtedrake/fall20-lec04)

https://colab.research.google.com/github/RussTedrake/manipulation/blob/master/lectures/jacobian.ipynb

This week

Step 1: Kinematic Frames / Spatial Algebra

Step 2: Gripper Frame Plan "Sketch"

Step 3: Forward kinematics of the iiwa + WSG

to the "whiteboard"...

Today's Breakouts

https://colab.research.google.com/github/RussTedrake/manipulation/blob/master/lectures/jacobian.ipynb

I've put together some questions to guide you.

The points DO NOT MATTER.

https://forms.gle/YrSZQ8k4Xe88T6jh6