Add lock_joints spec wrapper#1057
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A higher-order function that wraps a spec factory to delete specified joints before compilation, permanently welding them in place and removing them from the action space. Co-authored-by: Cursor <cursoragent@cursor.com>
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@louislelay There are a few bugs in this PR + we need to discuss the implementation a bit more. |
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Adds a higher-order function that wraps a
spec_fnto delete specified joints before compilation, permanently welding them in place. This is useful for freezing degrees of freedom you don't want in the action space (e.g. disabling an actuated head). Raises if a requested joint name doesn't exist in the spec.