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ihmcrobotics / ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
https://robots.ihmc.us
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Feature/persistent detection tests #298

Closed rjgriffin42 closed 3 months ago

rjgriffin42 commented 3 months ago

This adds some unit tests, and makes things a little more reference safe, so that we do more pose copying rather than modifying.