Doggy Project - HackMD

###### tags: `機器狗勾` Robot Doggy Project === - [回到目錄](/s/TBnHgBlMQv2ZM-Paf98d5A) I. Pytorch --- - [01. Environment Setup](/s/u9NbSo6cQSGLaY5x_uoecA) - [02. tensorflow installtion](/s/rJ3fSLV_j#1-2-Tensorflow-installation) II. OpenAI --- - [01. Unified Robot Description Format (URDF)](/s/HKo-o6RiSgCNAKJv3rh4Zg) - [1-1. Introduction](/s/rJ5VegA_j?type=view#-1-1-Introduction) - [1-1-1. base & link & joint](/s/rJ5VegA_j?type=view#-1-1-1-base-amp-link-amp-joint) - [1-1-2. urdf visualizer](/s/rJ5VegA_j?type=view#-1-1-2-urdf-visualizer) - [1-2. Basic format](/s/HKo-o6RiSgCNAKJv3rh4Zg?view#-1-2-Basic-format) - [1-2-1. framework](/s/rJ5VegA_j?type=view#-1-2-1-framework) - [1-2-2. link settings](/s/rJ5VegA_j?type=view#-1-2-2-link-settings) - [1-2-3. axis](/s/rJ5VegA_j?type=view#-1-2-3-axis) - [1-3. Other paramteters](/s/rJ5VegA_j?type=view#-1-3-Other-paramteters-) - [1-3-1. link – visual](/s/rJ5VegA_j?type=view#-1-3-1-link-–-visual) - [02. Gym & Pybullet Installation](/s/Va96cKFCSySugbcILt7dtw) - [2-1. Anaconda](/s/rktP_snOi?type=view#-1-1-Anaconda) - [2-2. gym – Installation](/s/rktP_snOi?type=view#-1-2-gym-–-Installation) - [2-2-1. required packages](/s/Va96cKFCSySugbcILt7dtw?view#-1-2-1-required-packages-) - [2-2-2. extension packages](/s/rktP_snOi?type=view#-1-2-2-Extension-Packages-) - [2-3. gym – demo code ](/s/rktP_snOi?type=view#-1-3-gym-–-Example-code) - [2-4. pybullet – Installation](/s/rktP_snOi?type=view#-1-4-pybullet-–-Installation) - [2-5. pybullet – demo code](/s/rktP_snOi?type=view#-1-5-pybullet-–-Example-Code) - [03. Pybullet](/s/r127xe0ds) - [3-1. Hello World !](/s/r127xe0ds#3-1-Hello-World-) - [3-1-1. physicsClient](/s/r127xe0ds#3-1-1-physicsClient) - [3-1-2. load URDF](/s/r127xe0ds#3-1-2-load-URDF) - [3-1-3. configure debug visualizer](/s/r127xe0ds#3-1-3-configure-debug-visualizer) - [3-1-4. environment init](/s/r127xe0ds#3-1-4-environment-init) - [3-1-5. robot init](/s/r127xe0ds#3-1-5-robot-init) - [3-1-6. step simulation](/s/r127xe0ds#3-1-6-step-simulation) - [3-2. get robot info](/s/r127xe0ds#3-2-get-robot-info) - [3-2-1. base pos and ori](/s/r127xe0ds#3-2-1-base-pos-and-ori) - [3-2-2. joint info](/s/r127xe0ds#3-2-2-joint-info) - [3-2-3. camera setting](/s/r127xe0ds?type=view#3-2-3-camera-setting-) - [3-3. robot control](/s/r127xe0ds?type=view#3-3-robot-control-) - [3-3-1. joint motor](/s/r127xe0ds?type=view#3-3-1-joint-motor-) - [04. robot kinemetics analysis (forward)](/s/xkePW4vUR2aChtYW6xqFmQ) - [4-1. pronoun definition](/s/r1ZuKAuJn#4-1-pronoun-definition) - [4-2. matrix](/s/r1ZuKAuJn#4-2-matrix) - [4-2-1. reference frame](/s/r1ZuKAuJn#4-2-1-reference-frame) - [4-2-2. 2D rotation matrix](/s/r1ZuKAuJn#4-2-2-2D-rotation-matrix-) - [4-2-3. 3D rotation matrix](/s/r1ZuKAuJn#4-2-3-3D-rotation-matrix-) - [4-2-4. 4x4 matrix in 3D](/s/r1ZuKAuJn#4-2-4-4x4-matrix-in-3D-) - [4-3. Denavit-Hartenberg Convention](/s/r1ZuKAuJn#4-3-Denavit-Hartenberg-Convention) - [4-3-1. frame – drawing](/s/r1ZuKAuJn#4-3-1-frame-–-drawing) - [4-3-2. frame – XYZ axis rule](/s/r1ZuKAuJn#4-3-2-frame-–-XYZ-axis-rule) - [4-3-3. parameters table – angles](/s/r1ZuKAuJn#4-3-3-parameters-table-–-angles) - [4-3-4. parameters table – lengths](/s/r1ZuKAuJn#4-3-4-parameters-table-–-lengths) - [4-3-5. formula – HTM](/s/r1ZuKAuJn#4-3-5-formula-–-HTM)