CoppeliaSim interface with DQ Robotics: From zero to hero

README.md

@@ -4,5 +4,5 @@ This repository contains resources for learning DQ Robotics using MATLAB.
 ## Available courses
 |Course|Path|Contents|Status|
 |---|---|---|---|
-Kinematic modeling and control of serial-link robotic manipulators using DQ Robotics: From zero to hero|/robotic_manipulators|A crash course on the kinematic modeling and control of robotic manipulators. Start from the very basic mathematical operations available in MATLAB to constrained kinematic control of manipulators with multiple degrees-of-freedom.|Stable|
-
+Kinematic modeling and control of serial-link robotic manipulators using DQ Robotics: From zero to hero|[/robotic_manipulators](https://github.com/ffasilva/learning-dqrobotics-in-matlab/tree/coppeliasim-interface/robotic_manipulators)|A crash course on the kinematic modeling and control of robotic manipulators. Start from the very basic mathematical operations available in MATLAB to constrained kinematic control of manipulators with multiple degrees-of-freedom.|Stable|
+CoppeliaSim interface with DQ Robotics: From zero to hero|[/coppeliasim_interface](https://github.com/ffasilva/learning-dqrobotics-in-matlab/tree/coppeliasim-interface/coppeliasim_interface)|A crash course on the interface with CoppeliaSim robot simulator. |Under development|

coppeliasim_interface/README.md

@@ -0,0 +1,46 @@
+# CoppeliaSim interface with DQ Robotics: From zero to hero
+
+A crash course on the interface with CoppeliaSim robot simulator.
+
+All lessons are in MATLAB Live Script format, meaning that the coding is explained alongside the mathematical equations that they represent. At the end of each lesson, there is a homework section to help the reader internalize the concepts introduced in the lesson.
+
+## How to use
+
+1. Install [MATLAB](https://www.mathworks.com/products/matlab.html).
+2. Clone the latest version of the [DQ Robotics](https://github.com/dqrobotics/matlab) or [download it as a ZIP package](https://github.com/dqrobotics/matlab/archive/refs/heads/master.zip).
+2. Add it to the MATLAB path.
+   * Set Path > Add with Subfolders.
+4. Clone this repository or [download it as a ZIP package](https://github.com/dqrobotics/learning-dqrobotics-in-matlab/archive/refs/heads/master.zip).
+5. Install [CoppeliaSim](https://www.coppeliarobotics.com/).
+6. Download the [CoppeliaSim scenes](https://osf.io/2tfsx/) (the .ttt files) used in the lessons.
+7. Open each lesson in MATLAB and follow through the live script.
+
+## Lessons
+
+The following lessons are currently available.
+|Number|Title|Content|
+|---|---|---|
+|1|*CoppeliaSim Basics*|The very basics of CoppeliaSim, including simulation setup.|
+|2|*Static World (part 1)*|How to interact with objects on CoppeliaSim in static scenes.|
+|3|*Static World (part 2)*|How to interact with robots on CoppeliaSim in static scenes.|
+|4|*Dynamic World*|How to interact with robots on CoppeliaSim in dynamic scenes.|
+
+## References
+
+As a crash course on CoppeliaSim interface, these lessons assume basic knowledge of dual quaternion algebra and on the use of DQ Robotics and CoppeliaSim.
+
+1. For an introduction on dual quaternion algebra to robotics, see [1].
+2. For basic lessons on kinematic modeling and control using DQ Robotics, see [2].
+3. For general CoppeliaSim tutorials, see [3].
+
+- [[1]](https://hal.archives-ouvertes.fr/hal-01478225/) Adorno, B.V., 2017. Robot Kinematic Modeling and Control Based on Dual Quaternion Algebra---Part I: Fundamentals.
+- [[2]](https://github.com/ffasilva/learning-dqrobotics-in-matlab/tree/coppeliasim-interface/robotic_manipulators) Kinematic modeling and control of serial-link robotic manipulators using DQ Robotics: From zero to hero.
+- [[3]](https://manual.coppeliarobotics.com/en/tutorials.htm) CoppeliaSim tutorials.
+
+## Acknowledgments
+
+Frederico Fernandes Afonso Silva would like to thank Ana Christina Almada Campos for volunteering ( :stuck_out_tongue_winking_eye: ) to review the first version of these lessons.
+
+## Comments/Suggestions...
+
+If you have any issues, please let us know.