Adding current control to robot class to keep track of control

guided_mrmp/utils/robot.py

+import numpy as np
+
 class Robot:
     def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, T, DT, rrtpath,waypoints):
         self.label = label
@@ -6,14 +8,15 @@ class Robot:
         self.start = start
         self.goal = goal
         self.current_position = start
+        self.control = np.zeros(2)
         self.rrtpath = rrtpath
         
         self.next_step = None
         self.next_control = None
 
-        if rrtpath is not None:
-            from guided_mrmp.controllers.path_tracker import PathTracker
-            self.tracker = PathTracker(start, dynamics_model,target_v, T, DT, waypoints)
+        # if rrtpath is not None:
+        #     from guided_mrmp.controllers.path_tracker import PathTracker
+        #     self.tracker = PathTracker(start, dynamics_model,target_v, T, DT, waypoints)
         
 
         self.x_history = [start[0]]