ROB2004 Robotics manipulation and locomotion

Note: For Spring 2025, use the spring25 branch in this repository. You can directly download it by selecting this branch as:

and downloading it directly or switching to it after the cloning as:

cd ~
git clone git@github.com:righetti/ROB2004.git
git checkout spring25

This repository provides material used for the class ROB2004 Robotic manipulation and locomotion taught at New York University by Ludovic Righetti. You are free to use and copy this material (at your own risk), please reference the material if you use it.

Working with python

We work with Python 3.8 using numpy, scipy, matplotlib (come with Anaconda by default). Most the material will be given as Jupyter notebooks.

Anaconda is a straightforward, multi-platform, easy-to-use python distribution. It can be downloaded here https://www.anaconda.com/download/ and extensive documentation is available here https://docs.anaconda.com/anaconda/

Jupyter (comes with default Anaconda installation) is a great way to create notebooks for python. A simple tutorial can be found here https://jupyter-notebook-beginner-guide.readthedocs.io/en/latest/

Python tutorial (the web is full of great tutorials). Here are links to start: https://docs.python.org/3.8/tutorial/index.html

Numpy for people coming from Matlab: http://mathesaurus.sourceforge.net/matlab-numpy.html

Plotting with Python: http://matplotlib.org/users/pyplot_tutorial.html

Issues / Feedback

We welcome feedback. If you find any issues, errors or have any ideas to improve the material, feel free to create an issue and we will try to address it.

Contributors

The material has been developped by Ludovic Righetti.