[WIP] Add safety-related cost functions#18
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madan-pi-TRI wants to merge 3 commits intoToyotaResearchInstitute:mainfrom
Draft
[WIP] Add safety-related cost functions#18madan-pi-TRI wants to merge 3 commits intoToyotaResearchInstitute:mainfrom
madan-pi-TRI wants to merge 3 commits intoToyotaResearchInstitute:mainfrom
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This PR implements two cost functions: 1) for penalizing joint positions outside joint limits and 2) for penalizing high contact forces. The second function is implemented by penalizing high magnitude signed distances.
This change is