Add a tutorial for the inverse kinematics #596
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S-Dafarra
approved these changes
Jan 31, 2023
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Actually, discussing with @Iaxama a few days ago, we noticed that when you have no task at level 0 and/or no task at level 1, the IK fails with a cryptic error about the non-zeros of the hessian/constrain matrix |
GiulioRomualdi
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This is a step forward toward #501
cc @traversaro