fix(retargeting): correct indexing for partial-body retargeting - #207
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nico-bohlinger wants to merge 1 commit into
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nico-bohlinger wants to merge 1 commit into
nico-bohlinger wants to merge 1 commit into
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Fix indexing bugs when retargeting only part of the robot, such as upper-body-only motion.
These modes mixed indices from the complete robot pose with indices in the smaller optimization vector. This could apply bounds and tracking costs to the wrong coordinates or cause indexing errors when Jacobian columns were selected twice. Initialization also failed to preserve coordinates that should stay locked. The fix consistently maps the selected coordinates into the optimization vector and keeps the rest of the robot pose intact.
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