Self-collision barrier jacobian fixes #115
Merged
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This PR addresses two issues I've encountered while working with self-collision barriers:
Both problems were related to the jacobian computation, i.e.
SelfCollisionBarrier.compute_jacobian()
method:robot.nq
instead ofrobot.nv
.I have checked the new implementation in some of my side projects, but I could port the examples there, just for completeness. Alternatively, we might introduce new tests that check that behaviour, if you wish.
Thanks to @simeon-ned and @RumblingTurtle for their support in finding problems and finding solutions to the issues.