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# Robot Dynamics - Exercise 2b #
# October 2016                 #
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* Initializing your workspace
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To properly initialize your workspace for the exercise, just run the following script from the folder in which this text file is located:

    init_workspace_scripts();
    init_workspace_visualization();

This will add the scripts and visualization related folders and sub-folders to the MATLAB path.


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* Visualization of the ABB 120 robot
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After setting up your workspace, to load the visualization of the ABB 120 robot you can run the following script:

    loadVisualization();

It will load an object named abbRobot, which allows you can visualize the robot in any joint space configuration q (which is a vector of 6 coordinates).
For example you can run:

    q = rand(6,1);
    abbRobot.setJointPositions(q);

You can test the visualization by running the script
    
    test_visualization();

which will load the visualization and run a simple motion  defined in joint space.
