Collision free constraint with zero margin was previous default and should be... (!160) · Merge requests · tum-cps / Timor Python

Matthias Mayer requested to merge fix/safety_margin_in_constraint into main Sep 29, 2023

Collision-free constraint with zero margin was the previous default and should be kept to have backward-compatibility and consistency with specification.

PTP_2_cycle is actually close enough to trigger this (included in the extended mcs test suite: https://gitlab.lrz.de/cps-robotics/mcs/-/jobs/6714007)

Collision free constraint with zero margin was previous default and should be...

Merge request reports