joints_constraints

[polo1968]

I would like to express my sincere gratitude for the code you have provided. It has been immensely helpful for my project, and I truly appreciate your work.

I have a few questions that I would like to ask. In the code you provided, I noticed that joints_constraints is passed as an initialization parameter but doesn't seem to be utilized in the class methods. I'm curious about the purpose of this parameter and whether it is reserved for future functionality expansion. The reason I ask is that in certain situations, if joints_constraints is not used, it results in strange poses, as shown in the attached .

I would really appreciate your guidance and clarification regarding the role and usage of joints_constraints, as I aim to understand and utilize your code correctly.