A project log for Robot Overlord
3D simulation and control software for robots
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There are many ways of animating things (which is basically what you are doing here), depending on what is your end goal. Just look at Blender! Mechatronics people prefer their rigs and real-time input, industrial engineers like to just set the goals and let the software figure out the most efficient ways of reaching them, folk that make their robots dance usually go for the keyframe approach -- there is no single best way.
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