Sudharshan Suresh

icon indicating a website link suddhu.github.io icon indicating an email [email protected]

icon location Cambridge, MA icon location PhD Robotics, @rpl-cmu and @facebookresearch

Results 2 issues of Sudharshan Suresh

iSDF integration with Franka + realsense

This runs similar to the live camera demo, but subscribes to Franka Panda inverse kinematics rather than ORB-SLAM. Additionally, this implementation has been tuned to work for tabletop scenes and...

CLA Signed

PGO dataset.py: Rotation/translation swapped in relative pose noise

## 🐛 Bug Rotation and translation noise are swapped in the PGO noise addition for `pose_graph/dataset.py`. Link to the [relevant location](https://github.com/facebookresearch/theseus/blob/cd2fc2c415b7e6bc41c963b98689c786edeacc1e/theseus/utils/examples/pose_graph/dataset.py#L282). The se3 tangent vector should be `[noise_trans, noise_rot]` but...