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Where to find Yoshikawa calls used in constraints? #35

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JustinMBrand opened this issue Jun 20, 2022 · 0 comments

JustinMBrand commented Jun 20, 2022

I am looking at the singularity avoidance constraint and see it calls yoshikawa_mean and yoshikawa_std in https://github.com/uwgraphics/relaxed_ik/blob/master/src/RelaxedIK/GROOVE_RelaxedIK/relaxedIK_constraint.py. I can find the yoshikawa_measure call in https://github.com/uwgraphics/relaxed_ik/blob/master/src/RelaxedIK/Spacetime/arm.py, but not yoshikawa_mean or yoshikawa_std.

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