pytorch_kinematics
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UM-ARM-Lab
Robot kinematics implemented in pytorch
I have an SDF of a floating robot hand that I'm trying to load. However, upon creating the `Chain`, I find that there are no states associated with the base...
Hi. I tried to test this repo with Franka Panda. here is my code. **torch_kin_test.py** ``` import os import torch import pytorch_kinematics as pk device = torch.device("cuda" if torch.cuda.is_available() else...
Hi, I think it would be great if one could specify that certain joints are mechanically coupled together. It is really quite common to run into this problem. I had...
Hey, I have short question regarding the Jacobian matrix: Looking through the code, I am still not entirely sure which Jacobian exactly is computed. In [the second last line](https://github.com/UM-ARM-Lab/pytorch_kinematics/blob/master/src/pytorch_kinematics/jacobian.py#L59) of...
Thanks for this awesome work! I was trying to use this package but it seems it by default does `from pytorch_kinematics.mjcf import *` when i run `import pytorch_kinematics as pk`...
Following #28 , here's a first draft regarding an implementation of forward kinematics that are differentiable w.r.t. joint offsets/link offsets. This PR implements: - An abstract ParameterizedTransform interface that allows...
Dear pytorch kinematics team, thank you for this amazing repo! I am interested in computing the FK gradients, but not only w.r.t joint angles, but also with respect to the...
Using pytorch_kinematics to calculate the Jacobian matrix of UR5 robot seems to get the wrong answer. Is this because that Jacobian calculation assumes frame of child link is the same...
The FK for UR5 using pytorch_kinematics seems to be wrong. I use both pytorch_kinematics and ikpy to solve the FK of UR5, but the results are not same. Using the...
Hi, thank you for your interesting work. I would like to ask if you plan to implement composite joints. I saw that you have used "humanoid.xml" in your example, but...
