Make multitask MATLAB script more robust #107
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Fixes a bug where joint velocities could exceed joint limits in cases where dropCorrectionTerm was not used. Removed need to rerun algorithm with dropCorrectionTerm.
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These matlab changes look fine. |
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Fixes a bug where joint velocities could exceed joint limits in cases
where dropCorrectionTerm was not used. Removed need to rerun algorithm
with dropCorrectionTerm once the DoF is less than the task dimension
Master test results:
New test results:
