Basically, this change allows us to have multiple-part representation for robot.
I'm considering moving visualization functions and animation functions into test file because we don't have universal visualization API currently. I didn't do it now because I'm thinking this would bring too many conflicts on your working global planners.
Basically, this change allows us to have multiple-part representation for robot.
I'm considering moving visualization functions and animation functions into test file because we don't have universal visualization API currently. I didn't do it now because I'm thinking this would bring too many conflicts on your working global planners.
Moving them away also allows us not to struggle too much with rotation and translation stuff currently for conference submission. Like this as follow, https://github.com/HybridRobotics/cbf/blob/6eded7d805106664fc99ff84f1e70ec5fb1f2ef5/control/dcbf_optimizer.py#L124-L140
Let me know how do you think and we can move on for later steps.