Cortex double indexing

[09ubberboy90]

In the cortex extension there is a bug when using custom robots for the going home function.

In dfb.py on line 244

    def step(self):
        aji = self.context.tools.commander.aji  # Active joint indices
        home_config = self.context.tools.robot.get_joints_default_state().positions[aji]
        target_T = self.context.tools.commander.get_fk_T(config=home_config)
        eff_T = self.context.tools.commander.get_fk_T()

home_config is already indexed using aji. Then in the next line get_fk_T reindexes the same list

        if config is None:
            # No active joints config was specified, so fill it in with the current applied action.
            action = self.robot.get_applied_action()
            config = np.array(action.joint_positions)

        active_joints_config = config[self.aji]

This causes error when using a robot where not all of the joints are active for a given controller

[nratliff]

You’re right. Thanks for letting us know. We’ll get that fixed in the next release.