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MocoOrientationTrackingGoal::setStatesReference() should not require non-kinematic states #3766

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nickbianco opened this issue Apr 11, 2024 · 0 comments
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MocoOrientationTrackingGoal::setStatesReference() should not require non-kinematic states #3766

nickbianco opened this issue Apr 11, 2024 · 0 comments
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@nickbianco @AllisonJohn
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Moco This label identifies bugs or desired features to aid Moco development

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In MocoOrientationTrackingGoal, the input states table is converted to a StatesTrajectory using StatesTrajectory::createFromStatesTable(). We should pass flags to allow missing columns, since only kinematic states are needed for this goal. We should also check that all the expected kinematic states are provided, we so don't change the expected behavior.
@nickbianco nickbianco added the Moco This label identifies bugs or desired features to aid Moco development label Apr 11, 2024
@nickbianco nickbianco self-assigned this May 20, 2024
@AllisonJohn AllisonJohn mentioned this issue Jul 1, 2024
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