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Created with Raphaël 2.2.09Jul85432128Jun27252421201714131265331May2927262423211614763230Apr262524231512413Mar121029Feb23161413975430Jan29261918171615111094221Dec15116543130Nov29282423212017161514107326Oct252019181715121196526Sep2015141312111098754131Aug30292824218543131Jul26181413121198764228Jun22211716151312962131May261915118432121Apr19151413121127Mar24revert features, attractive pot. fieldstylecheck desired null space value and throw warningadd head and torso joint to simox control robots, handle spheres in collision model in self-coll algorithmrevise logic for self-collision algorithmvalidate direction vector computationadd normal vector to visualizationadd direction to debug valuesadd debuf infoupdate simox robotsset debug values for self-collision avoidanceonPublish errorsfix logicfix logic errorsminor fixesadd collision pair debug infolog init params for joint limit avoidanceadd projected torque values to LimbPublishset joints for collision pair checking dynamicallyremove mm to meter conversionsadd collision visualization, set joint limit debug valuescheck init of all intermediate resultsupdate test configtesting joint lim avoid, works finecheck datatypes and pointerscheck hierarchy flags for valid configrework hierarchy structure and defining flagsimplement self-collision nullspace algorithmimplement joint limit null space algorithmmove init of joint data into preactivateInit of law, add checksset joint limit parameters and implement joint limit avoidance algorithmvalidate config data and set joint limit avoidance paramsvalidate initialization of vector datatypesadd log message for computation time and num of pairsreenable the impedance torqueoptimize condition checkingfix bugfix bugfix prefilter time measure locationcheck nodes only for corresponding arm tcp (not both tcps)