WIP: DMP Obstacle Avoidance #232
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Summary of changes
This pull request addresses part of #230.
It introduces an implementation of DMP obstacle avoidance as presented in this paper, where a force term computed from the positions of intermediate obstacles is added to the differential equation governing the evolution of the modeled variable.
The list of object positions is obtained by querying the KB interface for objects within a short distance from the robot.
TODO before merging