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…pdate e_i calculation using quaternion rotation
…clarity and performance
- Include visualization_msgs dependency in CMakeLists.txt - Introduce Visualizer class for rendering constraint planes and targets - Update CBFCartesianImpedanceController to publish visualization markers - Modify computeTorque to draw the scene at regular intervals
…parameters for improved control dynamics and update visualization method to accept new parameters
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cbf and hocbf packages will be removed and still developed in the
devel-cbfbranch