Fix simulation coordinate frame visualisation

nepfaff / tenaci

Software for a robotic manipulator that can rotate and stack cubes, draw sketches, and prepare a miniature breakfast.

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Fix simulation coordinate frame visualisation #18

Closed nepfaff closed 2 years ago

nepfaff commented 2 years ago

The simulation's coordinate frames should correspond to the DH notation used for the IK. The image below shows a frame whose x-axis is not aligned with the link.

nepfaff commented 2 years ago

All done: https://github.com/nicholas-p1/icl_robotic_manipulation_labs/commit/7812a4188a78cc0616b2885087bec755d04bf907