pytorch_kinematics
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UM-ARM-Lab
Robot kinematics implemented in pytorch
Citation
What would the appropriate citation be for this repo? I can cite the GitHub repo but if there is a arxiv upload or something I can cite that instead. Thanks!
SE3
Hi and thank you for providing this great library! I am using it for some optimization and am in need for exponential / logarithm map of SE(3). Browsing the code,...
Greate work! How should we approach humanoid robots or quadruped robots with floating bases? Is it possible to upgrade to a kinematic version that supports floating bases? Because most of...
Hi, thanks for your impressive works! We are new to the robotics, and we have customized a urdf file to describe our 6-DOF arm. And we found that given an...
In [line 749](https://github.com/UM-ARM-Lab/pytorch_kinematics/blob/a457cda0111e3ed836988d2e7b6652d969aa26ec/src/pytorch_kinematics/transforms/transform3d.py#L749) of **transform3d.py**, https://github.com/UM-ARM-Lab/pytorch_kinematics/blob/a457cda0111e3ed836988d2e7b6652d969aa26ec/src/pytorch_kinematics/transforms/transform3d.py#L749 It keeps causing an error when I try to visualize sdf using pv.draw_sdf_slice because **a** is a float tensor while **b** is a double...
The documentation for Transform3d class states that these operations are equivalent: pythonCopyy1 = t3.transform_points(t2.transform_points(t1.transform_points(x))) y2 = t1.compose(t2).compose(t3).transform_points(x) y3 = t1.compose(t2, t3).transform_points(x) However, they produce different results because compose function uses...
Hi there, Question about IK - in the readme it says to use the robot base for the IK. Is this always true? Or should I be using the base...
My robot structure is: "etc -> torso_link2 -> torso_joint3 -> torso_link3 -> left_arm_base_joint -> left_arm_base_link -> left_arm_joint1 -> left_arm_link1 -> etc". ``` pk.build_serial_chain_from_urdf(urdf, end_link_name="left_arm_link1", root_link_name="torso_link3") ``` Now I want to...
