Improved direct kinematics in wrist mk2.1 model#82

Merged

pattacini merged 4 commits intorobotology:develfrom ale-git:devel

Feb 15, 2024

Commits on Sep 29, 2023

Commits on Oct 17, 2023

Merge branch 'devel' of https://github.com/robotology/icub-firmware-models into devel
ale-git
committed

Commits on Feb 15, 2024

Gradient descent in direct kinematics motor angles -> ypr improved with variable step and backtracking.
ale-git
committed