Remove clamping of joint constraint in MoveRelative stage #665
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Do not enforce position bounds, let the stage fail if joints are outside the limits instead of clamping to valid positions.
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Codecov ReportAll modified and coverable lines are covered by tests ✅
❗ Your organization needs to install the Codecov GitHub app to enable full functionality. Additional details and impacted files@@ Coverage Diff @@
## master #665 +/- ##
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- Coverage 59.07% 59.04% -0.02%
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Files 97 97
Lines 9004 9003 -1
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- Hits 5318 5315 -3
- Misses 3686 3688 +2 ☔ View full report in Codecov by Sentry. |
rhaschke
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Feb 25, 2025
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Fixes #664. Do not enforce position bounds, let the stage fail if joints are outside the limits instead of clamping to valid positions.
There are maybe some who would actually want to move relative up to the position limit. But there's a lot chances that this will fail in subsequent stages.