Giuseppe L'Erario comments

Results 37 comments of


                                            Giuseppe L'Erario

[Question] adam v0.4.0 PyTorch interface M, C, G calculation super slow?

Hi @briannnyee! Some optimization is performed on the algorithms by caching and precomputing some quantities, as see #143. #### Optimized ``` bash URDF: stickbot.urdf | NDoF: 34 | batch: 4096...

Consider generalizing backends of array APIs

Thanks a lot @diegoferigo!

Consider generalizing backends of array APIs

Super cool! We should start to work on this idea indeed. I'd love to tbh.

Consider generalizing backends of array APIs

As reference: implemented in #134 and merged in main!

Incompatibility with Python 3.8: Use of Python 3.9+ type annotations (list[...], tuple[...]) leads to TypeError

Hi @johnny-ning! Thanks for opening the issue :) Yeah, as @traversaro mentioned, the documentation is outdated, and Python 3.8 is not supported anymore. I'll open a pr to update the...

Incompatibility with Python 3.8: Use of Python 3.9+ type annotations (list[...], tuple[...]) leads to TypeError

Hi @johnny-ning! I see! [v0.3.2](https://github.com/ami-iit/adam/releases/tag/v0.3.2) should be compatible with Python 3.8 (v0.3.2 should be the release where we introduced the "new" type annotations). Could you double check? Thanks a lot!

Adding rotor inertia to joints with motor/transmission mechanism

Hi @varunm99 , first of all thanks for your interest in adam! I'm afraid that the urdf parser (`urdf_parser_py` via `urdfdom-py`) used in adam does not handle the motor inertia....