Pierre Garcon. (AP)

RICHMOND — Redskins left tackle Trent Williams did not take part in practice on Friday, a day after getting hobbled by a kick to the shin during a play.

Williams and coach Jay Gruden said that the injury, which occurred when Williams served as a lead blocker for wide receiver DeSean Jackson, who had just caught a screen pass, was not serious.

Williams didn’t miss a snap, but did have his shin iced down, and he walked with a slight limp as he left the field. Williams took part on Thursday evening’s walk-through, but third-year pro Tom Compton played left tackle in place of Williams Friday morning.

Gruden said Thursday that he wants to handle players suffering from bumps, bruises and soreness with care so they are healthy enough to compete at a high level next week when the New England Patriots visit for three days of joint practices.

Because of that goal, Gruden cut Thursday’s practice short by a few minutes, and on Friday, he altered his plans. The coach had originally said the team would practice in pads Friday. But instead, the players wore shells along with their helmets.

Meanwhile, wide receiver Pierre Garcon returned to full action after having his activities restricted the past two days. Garcon left Monday’s session with soreness in his hamstring, and Tuesday represented an off day for the team. Garcon took part in individual drills on Wednesday and Thursday, but didn’t take part in any one-on-one, seven-on-seven or 11-on-11 drills. Garcon didn’t look to be hampered in any way on Friday.

Safety Phillip Thomas (hamstring) also returned to practice in a limited capacity. He was held out Wednesday and Thursday, but ran each day. Thomas took part in individual drills Friday, but did not participate in team drills.

Starting right tackle Tyler Polumbus practiced Friday morning after re-joining the team Thursday evening. He had received a two-day excuse to tend to a personal matter, according to Gruden.

Rookie safety Akeem Davis missed his second day of practice after welcoming a new baby on Thursday. Meanwhile, wide receiver Jerry Rice Jr., who suffered a shoulder injury Thursday, also was not in attendance Friday.

What’s ahead:

Washington has a walk-through Friday afternoon at 4:10 p.m. Here’s our camp guide, if you’re planning to attend.

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