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Add device to robot model #422

Merged
merged 2 commits into from
Feb 28, 2023
Merged

Add device to robot model #422

merged 2 commits into from
Feb 28, 2023

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fantaosha
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Motivation and Context

How Has This Been Tested

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@fantaosha fantaosha added the enhancement New feature or request label Jan 9, 2023
@fantaosha fantaosha self-assigned this Jan 9, 2023
@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Jan 9, 2023
@mhmukadam mhmukadam mentioned this pull request Jan 23, 2023
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mhmukadam
mhmukadam reviewed Jan 23, 2023
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theseus/embodied/robot/joint.py

if device is not None and origin.device != device:
warnings.warn(
f"tensor.device {origin.device} does not match given device {device}, "
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@mhmukadam mhmukadam Jan 23, 2023 •
edited

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Follow same update to warning as suggested by Luis in the revolute joint PR.

@fantaosha fantaosha force-pushed the taoshaf.robot.forward_kinematics branch from 928fb81 to 1be2940 Compare January 23, 2023 22:11
@fantaosha
Refactor Joint.dof as a property (#423)
41ccb26 
* refactor joint dof

* add virtual end-effector for tests
@fantaosha fantaosha merged commit a2b9790 into taoshaf.robot.forward_kinematics Feb 28, 2023
@fantaosha fantaosha deleted the taoshaf.robot.add_device branch February 28, 2023 19:11
fantaosha added a commit that referenced this pull request Mar 1, 2023
@fantaosha
Add differentiable forward kinematics (#420)
765fcb5 
* fixed a bug in FixedJoint

* add angle_ids

* add jacobians to FK

* forward kinematics works

* rename FK

* add tests for differentiable kinematics

* rename tests

* simplify the computation of origin

* add jacobian tests for forward kinematics

* fixed a bug for vectorize=True in SE3

* improve the efficiency of forward kinematics

* add tests for backward propagation

* update lie group load paths

* Add device to robot model (#422)

* add device to robot model

* Refactor Joint.dof as a property (#423)

* refactor joint dof

* add virtual end-effector for tests

* seems to work after name changes

* rename parent->parent_link and child->child_link

* rename angle_ids -> ancestor_active_joint_ids

* refactor tests with torch.testing.assert_close

* small refactoring of the code

* add Robot.get_links()

* remove some setters for link and joint

* made some functions private for encapsulation
fantaosha added a commit that referenced this pull request Mar 1, 2023
@fantaosha
Add robot model (#417)
074c2f9 
* add link

* add id to joint

* add id to link

* add robot model

* add name to robot

* backup

* refactor joint

* refactor link

* add robot model

* robot model works

* a minior refactor of joint

* add ancestor to links

* update dof computation

* add forward kinematics function

* Add differentiable forward kinematics (#420)

* fixed a bug in FixedJoint

* add angle_ids

* add jacobians to FK

* forward kinematics works

* rename FK

* add tests for differentiable kinematics

* rename tests

* simplify the computation of origin

* add jacobian tests for forward kinematics

* fixed a bug for vectorize=True in SE3

* improve the efficiency of forward kinematics

* add tests for backward propagation

* update lie group load paths

* Add device to robot model (#422)

* add device to robot model

* Refactor Joint.dof as a property (#423)

* refactor joint dof

* add virtual end-effector for tests

* seems to work after name changes

* rename parent->parent_link and child->child_link

* rename angle_ids -> ancestor_active_joint_ids

* refactor tests with torch.testing.assert_close

* small refactoring of the code

* add Robot.get_links()

* remove some setters for link and joint

* made some functions private for encapsulation

* consolidate if block and classmethod->staticmethod

* refactor set_robot_from_urdf_file

* rename ancestor_active_joint_ids -> ancestor_non_fixed_joint_ids

* id=-1 -> id=None

* refactor the code for simplicity

* move link into joint
fantaosha added a commit that referenced this pull request Mar 1, 2023
@fantaosha
Add prismatic joint (#416)
a2a104f 
* add prismatic joint

* refactor prismatic joint

* Add robot model (#417)

* add link

* add id to joint

* add id to link

* add robot model

* add name to robot

* backup

* refactor joint

* refactor link

* add robot model

* robot model works

* a minior refactor of joint

* add ancestor to links

* update dof computation

* add forward kinematics function

* Add differentiable forward kinematics (#420)

* fixed a bug in FixedJoint

* add angle_ids

* add jacobians to FK

* forward kinematics works

* rename FK

* add tests for differentiable kinematics

* rename tests

* simplify the computation of origin

* add jacobian tests for forward kinematics

* fixed a bug for vectorize=True in SE3

* improve the efficiency of forward kinematics

* add tests for backward propagation

* update lie group load paths

* Add device to robot model (#422)

* add device to robot model

* Refactor Joint.dof as a property (#423)

* refactor joint dof

* add virtual end-effector for tests

* seems to work after name changes

* rename parent->parent_link and child->child_link

* rename angle_ids -> ancestor_active_joint_ids

* refactor tests with torch.testing.assert_close

* small refactoring of the code

* add Robot.get_links()

* remove some setters for link and joint

* made some functions private for encapsulation

* consolidate if block and classmethod->staticmethod

* refactor set_robot_from_urdf_file

* rename ancestor_active_joint_ids -> ancestor_non_fixed_joint_ids

* id=-1 -> id=None

* refactor the code for simplicity

* move link into joint
fantaosha added a commit that referenced this pull request Mar 8, 2023
@fantaosha
Add prismatic joint (#416)
6c1d19c 
* add prismatic joint

* refactor prismatic joint

* Add robot model (#417)

* add link

* add id to joint

* add id to link

* add robot model

* add name to robot

* backup

* refactor joint

* refactor link

* add robot model

* robot model works

* a minior refactor of joint

* add ancestor to links

* update dof computation

* add forward kinematics function

* Add differentiable forward kinematics (#420)

* fixed a bug in FixedJoint

* add angle_ids

* add jacobians to FK

* forward kinematics works

* rename FK

* add tests for differentiable kinematics

* rename tests

* simplify the computation of origin

* add jacobian tests for forward kinematics

* fixed a bug for vectorize=True in SE3

* improve the efficiency of forward kinematics

* add tests for backward propagation

* update lie group load paths

* Add device to robot model (#422)

* add device to robot model

* Refactor Joint.dof as a property (#423)

* refactor joint dof

* add virtual end-effector for tests

* seems to work after name changes

* rename parent->parent_link and child->child_link

* rename angle_ids -> ancestor_active_joint_ids

* refactor tests with torch.testing.assert_close

* small refactoring of the code

* add Robot.get_links()

* remove some setters for link and joint

* made some functions private for encapsulation

* consolidate if block and classmethod->staticmethod

* refactor set_robot_from_urdf_file

* rename ancestor_active_joint_ids -> ancestor_non_fixed_joint_ids

* id=-1 -> id=None

* refactor the code for simplicity

* move link into joint
fantaosha added a commit that referenced this pull request Mar 10, 2023
@fantaosha
Add forward kinematics package to labs (#415)
cd2fc2c 
* add revolute joint

* refactor revolute joint

* add parent and child to joint

* update the path to load so3 and se3

* Add prismatic joint (#416)

* add prismatic joint

* refactor prismatic joint

* Add robot model (#417)

* add link

* add id to joint

* add id to link

* add robot model

* add name to robot

* backup

* refactor joint

* refactor link

* add robot model

* robot model works

* a minior refactor of joint

* add ancestor to links

* update dof computation

* add forward kinematics function

* Add differentiable forward kinematics (#420)

* fixed a bug in FixedJoint

* add angle_ids

* add jacobians to FK

* forward kinematics works

* rename FK

* add tests for differentiable kinematics

* rename tests

* simplify the computation of origin

* add jacobian tests for forward kinematics

* fixed a bug for vectorize=True in SE3

* improve the efficiency of forward kinematics

* add tests for backward propagation

* update lie group load paths

* Add device to robot model (#422)

* Refactor Joint.dof as a property (#423)

* refactor joint dof

* add virtual end-effector for tests

* seems to work after name changes

* rename parent->parent_link and child->child_link

* rename angle_ids -> ancestor_active_joint_ids

* refactor tests with torch.testing.assert_close

* small refactoring of the code

* add Robot.get_links()

* remove some setters for link and joint

* made some functions private for encapsulation

* consolidate if block and classmethod->staticmethod

* refactor set_robot_from_urdf_file

* rename ancestor_active_joint_ids -> ancestor_non_fixed_joint_ids

* id=-1 -> id=None

* refactor the code for simplicity

* move link into joint

* simplify the code

* minor revision to be consistent with Lie group refatcoring

* fixed a CI error

* move files to labs
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Reviewers

@mhmukadam mhmukadam mhmukadam approved these changes

@luisenp luisenp Awaiting requested review from luisenp

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@fantaosha fantaosha

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