UM-ARM-Lab / pytorch_kinematics

Robot kinematics implemented in pytorch

UM-ARM-Lab/pytorch_kinematics Issues

floating joints
Updated 5 months ago1
Gradients w.r.t. joint displacements
Updated 5 months ago5
Wrong Jacobian matrix calculation for UR5
Updated 6 months ago
Wrong FK for UR5
Updated 6 months ago
composite joints not supported
Updated 6 months ago1
get_matrix() function takes around 0.5 second ?! It is an issue for online control.
Closed 6 months ago2
Feature request: coupled joints
Updated 7 months ago4
How to compute the gradient of reward w.r.t. model parameters?
Closed 7 months ago2
Incompatibility of rotation transformations in version <= 0.4.0 and >= 0.4.1
Closed 8 months ago1
Error when load mjcf file for mujoco
Closed 8 months ago4
relationship to torch.autograd.functional.jacobian
Closed a year ago2
more tests for Jacobian
Updated a year ago
Parallelize fk for build_chain_from_urdf chain
Closed a year ago1
The method of processing joint of "slide" type ?
Closed a year ago5
Question regarding the definition and calculation process of FK
Closed a year ago2
Install test required model files
Closed a year ago1
Jacobian calculation assumes frame of child link is the same as the joint frame
Updated 2 years ago
How to output tensor array directly instead of transform3d format？
Closed 2 years ago1
Errors in forward_kinematics for fixed joints
Closed 2 years ago1
Error in jacobian calculation for prismatic joint
Closed 2 years ago1
Data extraction
Closed 3 years ago4