[index] Adding index page to the basic lessons.

Author: Murilo Marinho

.github/workflows/notebook_to_html.yml

@@ -30,10 +30,10 @@ jobs:
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      # Checks out your repository under $GITHUB_WORKSPACE, so your job can access it
       - uses: actions/checkout@v4
 
-      # Runs a set of commands using the runners shell
+      # Runs a set of commands using the runner's shell
       # https://mystmd.org/guide/deployment-github-pages#fn-except-custom-domains
       - name: Install dependencies and build page
         run: |

basic_lessons/README.md

@@ -0,0 +1,35 @@
+---
+title: Introduction
+...
+
+## Description
+
+  In this five-lesson tutorial, we start from the very basics of scalar and matricial operations in Python using `numpy`,
+  all the way until the basics of kinematic control. Until kinematic control, most is based on [@spong2020robot].
+
+# Using this book
+
+Each lesson is a [Jupyter notebook](https://jupyter-notebook.readthedocs.io/en/stable/notebook.html). Each lesson can be
+opened and executed with popular IDEs, such as [VSCode](https://code.visualstudio.com) and [PyCharm](https://www.jetbrains.com/pycharm/).
+The reader is expected to follow it sequentially.
+
+# Table of Contents
+
+- [](./lesson1_tutorial.ipynb) \
+  Basic operations in Python and `numpy`.
+  
+- [](./lesson2_tutorial.ipynb) \
+  Learn about elements and operations in $\mathbb{R}^n$, $SO(n)$, and $SE(n)$ with $n\in{\{2,3\}}$ related to positions,
+  orientations, and poses, respectively. 
+
+- [](./lesson3_tutorial.ipynb) \
+  Learn about the composition of rigid body motion in series to obtain the forward kinematics model of a robotic manipulator,
+  mapping their configuration space $\myvec{q}\in\mathbb{R}^n$ into their task space $\myvec{x}\in\mathbb{R}^m$.
+
+- [](./lesson4_tutorial.ipynb) \
+  Learn about the first-order differential mapping $\dot{\myvec{x}}=\mymatrix{J}\dot{\myvec{q}}$ between joint space and 
+  task space velocities through the calculation of the Jacobian $\mymatrix{J}$.
+
+- [](./lesson5_tutorial.ipynb) \
+  Employ the previous knowledge in all previous lessons to employ a Lyapunov-stable control law to move a manipulator
+  in task space using configuration-space signals.

basic_lessons/lesson4_tutorial.ipynb

@@ -159,7 +159,7 @@
     "\n",
     "## Step 2: Calculate the differential kinematics by hand\n",
     "\n",
-    "We first calculate the Jacobian by hand, because programatically there's nothing for you to do yet. \n",
+    "We first calculate the Jacobian by hand, because programmatically there's nothing for you to do yet.\n",
     "\n",
     "The analytical Jacobian is given by\n",
     "\n",

basic_lessons/lesson5_tutorial.ipynb

@@ -48,10 +48,8 @@
    "outputs": [],
    "source": [
     "%%capture\n",
-    "%pip install numpy\n",
-    "%pip install numpy --break-system-packages\n",
-    "%pip install matplotlib\n",
-    "%pip install matplotlib --break-system-packages"
+    "%pip install numpy matplotlib\n",
+    "%pip install numpy matplotlib --break-system-packages"
    ]
   },
   {

conf.py

@@ -0,0 +1,4 @@
+# https://myst-parser.readthedocs.io/en/latest/syntax/optional.html
+myst_enable_extensions = [
+    "dollarmath"
+]

myst.yml

@@ -33,6 +33,7 @@ project:
     - file: README.md
     - title: "[Basic] Robotics using numpy"
       children:
+        - file: basic_lessons/README.md
         - file: basic_lessons/lesson1_tutorial.ipynb
         - file: basic_lessons/lesson2_tutorial.ipynb
         - file: basic_lessons/lesson3_tutorial.ipynb
@@ -57,3 +58,4 @@ site:
   options:
     favicon: favicon.ico
   #   logo: site_logo.png
+

references.bib

@@ -0,0 +1,6 @@
+@article{spong2020robot,
+  title={Robot Modeling and Control},
+  author={Spong, Mark W and Hutchinson, Seth and Vidyasagar, M},
+  journal={Wiley},
+  year={2020}
+}