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[bugfix] - index torques by link DoF #1637

Merged
merged 1 commit into from
Jan 26, 2022
Merged

[bugfix] - index torques by link DoF #1637

merged 1 commit into from
Jan 26, 2022

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aclegg3
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@aclegg3 aclegg3 commented Jan 26, 2022

Motivation and Context

Should be indexing positions by link index and torques/velocities by link DoF index as these vectors can have different sizes.

How Has This Been Tested

Tests pass CI, but should add another URDF to test this kind of mismatch in the future.

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@facebook-github-bot facebook-github-bot added the CLA Signed Do not delete this pull request or issue due to inactivity. label Jan 26, 2022
jturner65
jturner65 approved these changes Jan 26, 2022
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LGTM

@aclegg3 aclegg3 merged commit c1cd2f3 into main Jan 26, 2022
@aclegg3 aclegg3 deleted the joint-torque-fix branch January 26, 2022 18:08
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@jturner65 jturner65 jturner65 approved these changes

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