When looking at the result from the inverse kinematics and the finally dumped data, I noticed that the trajectory from the dumped data is time-shifted by one dt. See screenshot below where dt is 20 ms.
This PR fixes this and make sure the time series used for dumping the data starts at zero.
When looking at the result from the inverse kinematics and the finally dumped data, I noticed that the trajectory from the dumped data is time-shifted by one dt. See screenshot below where dt is 20 ms.
This PR fixes this and make sure the time series used for dumping the data starts at zero.