Hi,

As Kaijen and Gil suggested, I started working on adding collision detection
to the generic arm_kinematics pkg. (for the time being I just did some
reorganization, copy paste from pr2_ik_constraint_aware, changes to get it
to compile)

If someones can help me get it working, it would be very nice. In case you
want to start right away, I attached a patch.

It's not working (yet), but at least it compiles ;)

Cheers,

Ugo

-- 
Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
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