home.md

@@ -18,10 +18,23 @@ We have also the "Record trajectory" in this notebook we find the code requeried
 The idea is to sample the postion of the joints in a period of time and sae them into a list which we can use later to the describe the movemente of the arms in (COMPLETE which coordinates system is it using?)
 
 
+The used of matplot is escenctial to identify the movement of the arm, this way we can see the contribution of each joint when doing an action.
+
+At the moment of editing any joint we can accede to particular motor ad change its values
+´´´del array[i:j]´´´
+
+a way to reproduce complex movements
+------------------------------------
+
+since reachy allows us to control its arms in several ways, we can find a coding method that adapts the best to our necesities, however they migth appear some diffculties to trace complex trajectories that involves every joint.
+
+one first approche is to record the movement we want to trace and take some samples, then we cab usen the goto command to let reachy move by itself following the checkpoints we chose.
+
+this method allows to correct the postion easily. 
 
  
 
-``` jupyyter notebook``` 
+
 
 
 Robot 2019