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Fix check for motor constraints on angular DoF #560

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merged 1 commit into from
Dec 10, 2023
Merged

Fix check for motor constraints on angular DoF #560

merged 1 commit into from
Dec 10, 2023

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kvark
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@kvark kvark commented Dec 2, 2023

It looks like motor_axes is just a mask of axes, similar to locked_axes. It shouldn't need to be shifted by DIM for these checks.

sebcrozet
sebcrozet approved these changes Dec 10, 2023
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Good catch, thanks! Looks like a bug introduced when i was iterating starting at 0 instead of DIM directly.

@sebcrozet sebcrozet merged commit 8c969d4 into dimforge:master Dec 10, 2023
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@kvark kvark deleted the wheel-joint branch December 17, 2023 04:51
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@kvark @sebcrozet