[optmotiongen] posture generation with body sufrace contacts #746
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… body surface contacts.
…th the body surface contacts.
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Add the feature to generate a robot posture with contacts on the robot body surfaces. The following gif anime is one of examples (this example is added to the demo directory and README).
The method is presented in the following paper:
Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface (RA-Letter 2020)
Documents is added in the section 4.5 of manual.pdf. Sample and demo program are added and they are added to README.