GitLab

[transition check] add python method to test if a point is inside the kinematics constraints for the current configuration

see commit in rbprm : cd4fce4

Test if problemSolver and Problem were initialized before accessing parameters in fullBody::loadFullBodyRobot

add a limb that we can move to avoid collision but do not try to make contact with

Add a 'limbOffset' parameter in addLimb : used to compute the position of the link of the limb_ joint