Add ability to restrict IK to certain dofs. #53
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yuvaltassa
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Mar 2, 2025
mink/configuration.py
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| ) | ||
| if joint_id == -1: | ||
| raise exceptions.InvalidJointName(joint_name, model) | ||
| dof_ids.append(model.jnt_dofadr[joint_id]) |
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should this be something like
dof_ids.append(model.jnt_dofadr[joint_id]:model.jnt_dofadr[joint_id] + model.jnt_dofnum[joint_id])
?
I mean, I don't know if you support ball or free joints...
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Good catch, thanks @yuvaltassa!
kevinzakka
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Mar 3, 2025
This reverts commit c2a1f49.
kevinzakka
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Mar 3, 2025
This reverts commit c2a1f49.
kevinzakka
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Mar 3, 2025
This reverts commit c2a1f49.
kevinzakka
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Mar 3, 2025
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