fix gripper-to-joint mapping in SecurityMargins and contact surfaces #89

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florent-lamiraux merged 1 commit into humanoid-path-planner:devel from psardin001:security-margins

Jan 8, 2026

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psardin001 commented Jan 7, 2026

computeGrippers(): gripper-to-joint mapping was incomplete
computePossibleContacts(): contact surfaces weren't populated
computeJoints(): improved joint name filtering logic


          fix gripper-to-joint mapping in SecurityMargins and contact surfaces

fb891ea

florent-lamiraux merged commit 0723ca0 into humanoid-path-planner:devel

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psardin001 mentioned this pull request

The computation of the set of joints that move with a gripper is not correct. #87

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