Manifold Motion Planning

Part A

Part B

Part C

As observed from the 2d embedding figure the angles are measured clockwise, we can deduce that for a particular theta1,theta2 goes from 0 to +-180 than while in in 3-d the values of theta2 vary along a ring on the toroid from(o to 360).

Part D

Torus

Part E

Part F

Part G