example added

README.md

@@ -16,6 +16,7 @@ The RCFS website also includes interactive exercises: [https://rcfs.ch](https://
 | spline2D | Concatenated Bernstein basis functions with constraints to encode a signed distance function (2D inputs, 1D output) | ✅ | ✅ |  |  |
 | spline2D_eikonal | Gauss-Newton optimization of an SDF encoded with concatenated cubic polysplines, by considering unit norm derivatives in the cost function | ✅ | ✅ |  |  |
 | IK_manipulator | Inverse kinematics for a planar manipulator | ✅ | ✅ | ✅ | ✅ |
+| IK_manipulator3D | Inverse kinematics in a 3D workspace for a manipulator defined with DH Parameters (standard or modified) |  | ✅ |  |  |
 | IK_bimanual | Inverse kinematics with a planar bimanual robot |  | ✅ |  |  |
 | IK_nullspace | Inverse kinematics with nullspace projection (position and orientation tracking as primary or secondary tasks) | ✅ | ✅ |  |  |
 | IK_num | Inverse kinematics with numerical computation for a planar manipulator | ✅ | ✅ |  |  |
@@ -34,7 +35,7 @@ The RCFS website also includes interactive exercises: [https://rcfs.ch](https://
 | GPIS | Gaussian process implicit surfaces (GPIS) |  | ✅ |  |  |
 | iLQR_obstacle_GPIS | iLQR with obstacles represented as Gaussian process implicit surfaces (GPIS) | ✅ | ✅ | ✅ |  |
 | iLQR_manipulator | iLQR applied to a planar manipulator for a viapoints task (batch formulation) | ✅ | ✅ | ✅ | ✅ |
-| iLQR_manipulator3D | iLQR (batch formulation) applied to a Franka Emika manipulator for a viapoints task in a 3D workspace | ✅ | ✅ |  |  |
+| iLQR_manipulator3D | iLQR (batch formulation) in a 3D workspace applied to a Franka Emika manipulator for a viapoints task | ✅ | ✅ |  |  |
 | iLQR_manipulator_initStateOptim | iLQR applied to a planar manipulator, where both an optimal controller and an optimal robot base location are estimated | ✅ | ✅ |  |  |
 | iLQR_manipulator_recursive | iLQR applied to a planar manipulator for a viapoints task (recursive formulation to find a controller) | ✅ | ✅ |  |  |
 | iLQR_manipulator_CoM | iLQR applied to a planar manipulator for a tracking problem involving the center of mass (CoM) and the end-effector (batch formulation) | ✅ | ✅ |  |  |

python/IK3D.py → python/IK_manipulator3D.py

 '''
-Inverse Kinematics computed on a 6DOF robot defined with DH Parameters (Standard or Modified)
+Inverse Kinematics in a 3D workspace for a manipulator defined with DH parameters (standard or modified)
 
-Copyright (c) 2024 Idiap Research Institute <https://www.idiap.ch/>
+Copyright (c) 2024 Idiap Research Institute <https://www.idiap.ch>
 Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
 Sylvain Calinon <https://calinon.ch>
 
-This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
+This file is part of RCFS <https://rcfs.ch>
 License: MIT
 '''
 import copy