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robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
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Prevent shoulder from hitting torso's cover #85

Closed pattacini closed 6 years ago

pattacini commented 6 years ago

This PR performs reaching while preventing the shoulder from hitting the torso's cover.

The implementation resorts to a further linear constraint relating the movements of the shoulder's pitch and roll.

cc @randaz81 @aerydna