[2025 Fall] COMPSCI 403. Introduction to Robotics

This repository includes code for CS 403 Final Project.

To run, pip install mujoco then run the Run_RapidReachingEnv.py file.

Working robot arm:

1. Jacobian to find inverse kinematics (Mujoco has Jacobian function). Need to find error.

2. Calculate the torque for each angle

3. Animation for robot arm to move

Bonus

Finding the most optimal path / order of points (Use 1 reference)

etc?