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Enforce joint limits in IrsMpc #40

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pangtao22 opened this issue Feb 18, 2022 · 0 comments
Open

Enforce joint limits in IrsMpc #40

pangtao22 opened this issue Feb 18, 2022 · 0 comments

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@pangtao22
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Joint limits are necessary to avoid penetration between adjacent links, such as the configuration shown below:
image

It should be a simple matter of adding some bounding box constraints on u.
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@pangtao22