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chore(geometry): drop ComputeOOBPosition's clamp; EndPosition reports the true pose on rdk >= v1.6.0 - #53
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Nick Hehr (HipsterBrown) wants to merge 1 commit into
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chore(geometry): drop ComputeOOBPosition's clamp; EndPosition reports the true pose on rdk >= v1.6.0#53Nick Hehr (HipsterBrown) wants to merge 1 commit into
Nick Hehr (HipsterBrown) wants to merge 1 commit into
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… the true pose on rdk >= v1.6.0 Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_0143XEcQfbDcub9vusPR8zP7
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Follow-up from #48.
EndPosition(hardware and simulated arm) callsmodel.Transformdirectly;geometry.ComputeOOBPositionis deleted. Its clamp worked around rdk v0.123 truncating the chain at an out-of-bounds joint; on rdk ≥ v1.6.0 it only made a drooped joint report the pose at its limit instead of where it is.oob_test.gonow pins thatTransformof an over-limit joint is not an error, is not clamped, and composes the full chain (JSON and URDF).so101.clampPositions) is unchanged.🤖 Generated with Claude Code
https://claude.ai/code/session_0143XEcQfbDcub9vusPR8zP7