Open JustinMBrand opened 2 years ago
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.
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.