Add the possibility to set the SwingFootPlanner position and orientation tolerances as configuration parameters #785
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…ion tolerances as configuration parameters
S-Dafarra
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Dec 18, 2023
GiulioRomualdi
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S-Dafarra
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Dec 18, 2023
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As per the title, this PR adds the possibility of setting the orientation and position tolerances for the swing foot planner. These tolerances are used to check if the position of a contact changes when it is already active. Having a tunable tolerance will make the planner more robust when the contact location are computed by an optimization procedure, for instance
sqpmethod