Changing the inverse kinematics path planner to run with Tx instead of T, because only the position of the EE is needed and the Mujoco robot config doesn't have T implemented. Now it runs with Mujoco.
Added an example of that running in Mujoco and cleaned up the PyGame inverse kinematics example as well to run smoother.
Also updates to the orientation planner to allow for a constant rotation speed.
p3jawors
commented
4 years ago
Changing the inverse kinematics path planner to run with
Txinstead ofT, because only the position of the EE is needed and the Mujoco robot config doesn't haveTimplemented. Now it runs with Mujoco. Added an example of that running in Mujoco and cleaned up the PyGame inverse kinematics example as well to run smoother.Also updates to the orientation planner to allow for a constant rotation speed.