Submit the zipped modified workspace at the end of the practical with a PDF containing quantic polynomial equations for each joint for traveling in between following configurations. Use the following format for the document.
| Joint Angle | Start Configuration | End Configuration | Polynomial Function |
|---|---|---|---|
| Joint 1 | 0.0 | -0.2 | |
| Joint 2 | 0.0 | 0.0 | |
| Joint 3 | 0.0 | 0.0 | |
| Joint 4 | 0.0 | 0.0 |
Note: Modify the jclient.py to get the values of polynomial coefficients (a,b,c,d,e,f) as a print to the terminal and use them to formulate polynomial function
joint 1 - 0.0
joint 2 - 0.0
joint 3 - 0.0
joint 4 - 0.0
time - 5.0
joint 1 - -0.2
joint 2 - 0.0
joint 3 - 0.0
joint 4 - 0.0
time - 5.0
joint 1 - -0.2
joint 2 - 0.4
joint 3 - 0.0
joint 4 - 0.0
time - 5.0
joint 1 - 0.2
joint 2 - -0.2
joint 3 - -0.4
joint 4 - 0.0
time - 5.0
joint 1 - -0.4
joint 2 - 0.2
joint 3 - 0.2
joint 4 - 0.2