Make multitask MATLAB script more robust

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Make multitask MATLAB script more robust #107

Open Mark-Finegan opened 4 years ago

Mark-Finegan commented 4 years ago

Fixes a bug where joint velocities could exceed joint limits in cases where dropCorrectionTerm was not used. Removed need to rerun algorithm with dropCorrectionTerm once the DoF is less than the task dimension

Master test results:

New test results:

forrest-rm commented 3 years ago

These matlab changes look fine.