Jeremy Morgan

in general, if the error is `Runtime Error: x and y must have the same dtype` it means your trying to do operations on tensors that have different [dtypes](https://pytorch.org/docs/stable/tensor_attributes.html#torch.dtype)

Hi Yupu, 1. I'm not sure what's causing that. I just bumped klampt to 0.9.2 in Jrl, can you try a fresh install? 2. The max-epoch won't be reached! Training...

And just to be clear, there are pretrained models you can use: `python scripts/evaluate.py --testset_size=500 --model_name=panda__full__lp191_5.25m` for example. All models found here: https://github.com/jstmn/ikflow/blob/master/ikflow/model_descriptions.yaml

Hi @YupuLu , Great, sounds like you got it working. Right now I only have python 3.8 allowed because it would be extra work to ensure it works on other...

Sounds like `DEVICE` from jrl/config.py isn't being used everywhere. Which variables specifically have the wrong cuda device?

What's the actual error your getting? Can you include the stack trace

Sure, here's the curve: 

It could be from the forward-kinematics cache operation done here: https://github.com/jstmn/jrl/blob/master/jrl/robot.py#L236 The '"Warp 0.10.1 initialized.....CUDA Toolkit: ...Devices:...Kernel cache:..." ' happens whenever you call `import warp`, so that's probably not it.

Yep! That looks like it. > Should I use `calculate_ignorable_link_collision_pairs.py` and `calculate_rotational_repeatability.py`? Yes, run `calculate_ignorable_link_collision_pairs.py` and save the output to the top of robots.py like is here: ``` python RIZON4_ALWAYS_COLLIDING_LINKS...

Thanks. "Can I add a pull request for your reference?" yep! thanks