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The program loads Denavit-Hartenberg parameters from a txt file to import the correct robot configuration. It's possible to view all joint axes or just the axes at the tool tip. If viewing all the axes, the program is slow so it's best to simply view the path after completion.\n\nTo-Do:\nwrite functions to:\n- calculate the Jacobian\n- implement inverse-kinematics\n- sample-based path planning like RRT and PRM\n- implete a gripper for the tip of the robot\n- visualizing robot path with a line instead of axes\n- implement joint limits\n\n\u003cp float=\"left\"\u003e\n  \u003cimg src=https://user-images.githubusercontent.com/83112082/171044843-b050536b-c731-43d7-847c-193f58297eab.gif width=\"45%\" height=\"45%\" /\u003e\n  \u003cimg src=https://user-images.githubusercontent.com/83112082/171084326-3e70696f-baf2-486a-94fe-0553d8db440e.gif width=\"45%\" height=\"45%\" /\u003e\n\u003c/p\u003e\n\n## Denavit-Hartenberg Parameters\nThis is the format for the text file for the DH parameters. For joint type, R stands for revolute and P stands for prismatic.\n| Robot_Name |     |      |      |     |\n| ------------------- | :--- | :--- | :--- | :--- |\n| joint | theta (rad) | a (m) | d (m)  | alpha (rad) |\n| R     | 0           | 0     | 0.1807 | 1.5708      |\n| R     | 0           | 0     | 0.1807 | 1.5708      |\n| R     | 0           | 0     | 0.1807 | 1.5708      |\n| R     | 0           | 0     | 0.1807 | 1.5708      |\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftsmorz%2Frobot_sim","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftsmorz%2Frobot_sim","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftsmorz%2Frobot_sim/lists"}