fix(retargeting): match LAFAN names to the extracted BVH joint order - #206
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nico-bohlinger wants to merge 1 commit into
Open
nico-bohlinger wants to merge 1 commit into
nico-bohlinger wants to merge 1 commit into
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Fix a bug that swapped left- and right-side motion targets when retargeting LAFAN data.
The supplied BVH converter saves joint positions with the left leg and arm before their right-side counterparts, but
LAFAN_DEMO_JOINTSlisted the right side first. The retargeter therefore assigned left-side positions to right-side robot links and vice versa, giving the robot incorrect motion targets. The joint names now match the saved data, so existing files produced by the converter do not need to be converted again.By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.