[FEATURE] Add link-wise mask for poss and quats in multilink IK#499
Merged
ziyanx02 merged 2 commits intoGenesis-Embodied-AI:mainfrom Jan 9, 2025
Merged
[FEATURE] Add link-wise mask for poss and quats in multilink IK#499ziyanx02 merged 2 commits intoGenesis-Embodied-AI:mainfrom
ziyanx02 merged 2 commits intoGenesis-Embodied-AI:mainfrom
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I'm not sure if this operation will make the function slower. |
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Not sure what will happen if base link is in the list |
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i don't like seeing not sure |
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simplescreenrecorder-2025-01-09_14.07.17.mp4Everything works well in my local tests. |
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@wangyian-me Could you review this? |
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Update
inverse_kinematics_multilinkto allowpossandquatsto containNonevalues, indicating that the respective property of the specified link is not considered in the IK calculation.