time-constraint-steering inherit of core::StraightSteering (required to use the progressive constrain projector)
Temporarly disable com-constraint in com-rrt as it doesn't work with the constraints
projection
Update postural task to take the weight vector defined through the python API
ProjectStateToObstacle : add optional parameter to lock all joints expect those of the moving limb (false by default to keep the previous behavior)
contact generation
Add a parameter in fullBody 'usePosturalTaskContactGeneration' : if True, when creating a new 6D contact the orientation of the effector along the contact normal is not constrained anymore, and we add a postural task to the config projector. WIP Only work when contact normal is along z axis for now.
Heuristic : greatly reduce the weight of the static value in 'fixedStep' heuristics
Heuristic : add 'fixedStep04'
Improve 'addGoalConfig' method called at the end of 'interpolate', now try all the combinatorial between the limbs
planner
fix tryConnectInitAndGoals method (could fail to create the edge even though the trajectory was valid)
com-rrt / limb-rrt
projection
contact generation
planner