chomp now works in this branch, whew.
it's getting to be time to make the repo private
it's getting to be time to make the repo private
adding DRC hubo dir
forgot to add chomp
collision stuff for Temple to work on
Added bounding cylinders to the drc hubo model
Dropped in some TODO's for Temple to add door collision stuff
tried to get Collision detection working - failed
Collision checking works for the most part now
Self collision detection works, but I suspect the visualization is flawed.
fixed collision checking bounds with Temple
More collision checking stuff with Temple, adjacencies work now
made minor changes for handling IK errors
Merge branch 'devel/dooropen' of https://github.com/swatbotics/hubomz into devel/dooropen
Capsules are now visualized. Self and door collisions work.
Added error checking on IK - added in function shells for IK error handling
A config file now controls the joint_change_maximum value
Undid changes to SimpleConfig.txt
slight modifications to DoorPlanner.cpp