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base repository: UM-ARM-Lab/pytorch_kinematics
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base: master
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head repository: UM-ARM-Lab/pytorch_kinematics
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compare: value_function2
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  • 16 commits
  • 9 files changed
  • 2 contributors

Commits on Nov 2, 2023

  1. remove inplace operations, allows for vmap

    @powertj
    powertj committed Nov 2, 2023
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    657d76d View commit details

Commits on Nov 6, 2023

  1. add first pass of jacobian calculation at user specified links - seem… 

    …s to slow down jacobian calculation
    @powertj
    powertj committed Nov 6, 2023
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    f9b0bd8 View commit details

  2. Add tests for jacobian at different links

    @powertj
    powertj committed Nov 6, 2023
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    da9b6b4 View commit details

Commits on Nov 7, 2023

  1. Fix bug in using wrong transforms and add additional tests

    @powertj
    powertj committed Nov 7, 2023
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    5efa707 View commit details

  2. partial joints now results in partial jacobian for SerialChain.jacobian

    @powertj
    powertj committed Nov 7, 2023
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    9f7b631 View commit details

Commits on Nov 14, 2023

  1. Also load collision as well as visual geometries

    @powertj
    powertj committed Nov 14, 2023
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    614d41c View commit details

  2. Fix issue with batched shape operator transform

    @powertj
    powertj committed Nov 14, 2023
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    5afa3a0 View commit details

Commits on Jan 19, 2024

  1. Add support for cylinder geometries

    @powertj
    powertj committed Jan 19, 2024
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    d6b904a View commit details

Commits on Jan 24, 2024

  1. fix jacobian calc

    @powertj
    powertj committed Jan 24, 2024
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    4411049 View commit details

Commits on Feb 2, 2024

  1. add djacobian_d_tool

    @powertj
    powertj committed Feb 2, 2024
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Commits on Apr 10, 2024

  1. add flag, allows jacobian calculation at offsets in either world or e… 

    …nd-effector frame.
    @powertj
    powertj committed Apr 10, 2024
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    b0d02b2 View commit details

  2. fix inverse bug

    @powertj
    powertj committed Apr 10, 2024
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    7d26854 View commit details

Commits on Apr 26, 2024

  1. remove in-place operation for use with torch.func.vmap

    @powertj
    powertj committed Apr 26, 2024
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    0cf7088 View commit details

Commits on Apr 29, 2024

  1. Fix issue with in-place operation torch.func.vmap

    @powertj
    powertj committed Apr 29, 2024
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    749d95c View commit details

Commits on Jun 20, 2024

  1. add function for computing torque due to gravity

    @powertj
    powertj committed Jun 20, 2024
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    079b996 View commit details

Commits on Jul 8, 2024

  1. remove printing

    @fanyangr
    fanyangr committed Jul 8, 2024
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    7b7656c View commit details

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