Function to_dof

data/kitml_converter.py:87–91

(a)

        takes = jp.array(takes, dtype=int)

        def to_dof(a):
            b = np.zeros([num_joint_dof])
            for idx, (j, (beg, end), _) in enumerate(joint_idxs):
                b[beg:end] = a[idx, :end - beg]
            return b

        def to_3dof(a):
            a = jp.concatenate([a, jp.array([0.0])])