Why do we need to calculate the constraints based on current position using .fun() ?

[ktgiahieu]

Hi,

Sorry for asking multiple questions at once.
I am just wondering why do we need to calculate the constraints based on current position:
https://air-hockey-challenges-docs.readthedocs.io/en/latest/constraints.html

I thought the constraint of velocity and position for each joint is constant. Can you help me understand why should we use the fun() function?

Thank you.

[PuzeLiu]

Hi,
I have updated the decription of the constraints to be more clear.

We provide a interface for the convinience.
The constraint is alwasy in the form
f(q) < 0,
so the joint position constraints has the form
q_i - q_{high, i} < 0, -q_i + q_{low, i} < 0. i = [1, ..., num_joints]