feat(constitution): offset joint limits by initial distance/angle#411
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Ligo04 wants to merge 2 commits intospiriMirror:mainfrom
Open
feat(constitution): offset joint limits by initial distance/angle#411Ligo04 wants to merge 2 commits intospiriMirror:mainfrom
Ligo04 wants to merge 2 commits intospiriMirror:mainfrom
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Prismatic and revolute joint limits now account for an initial configuration offset. The `init_distance` and `init_angle` edge attributes are added to the lower/upper bounds so that limits are expressed relative to the rest pose rather than absolute values. Made-with: Cursor
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This pull request introduces initial offsets for affine body joint limits, specifically adding init_distance for prismatic joints and init_angle for revolute joints. These offsets are incorporated into the calculation of effective lower and upper bounds for joint constraints. The changes span documentation, CUDA backend implementations, and core attribute management. I have no feedback to provide as there were no review comments to evaluate.
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Summary
Joint limits (prismatic and revolute) now support an initial offset so that the limit range is expressed relative to an initial configuration rather than the reference pose.
init_distanceedge attribute toAffineBodyPrismaticJointLimit— the effective bounds becomelower + init_distanceandupper + init_distanceinit_angleedge attribute toAffineBodyRevoluteJointLimit— the effective bounds becomelower + init_angleandupper + init_angle0.0, preserving backward compatibility