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Add device to robot model #422
Merged
fantaosha
merged 2 commits into
taoshaf.robot.forward_kinematics
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taoshaf.robot.add_device
Feb 28, 2023
Merged
Add device to robot model #422
fantaosha
merged 2 commits into
taoshaf.robot.forward_kinematics
from
taoshaf.robot.add_device
Feb 28, 2023
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mhmukadam
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Jan 23, 2023
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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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Follow same update to warning as suggested by Luis in the revolute joint PR.
mhmukadam
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Jan 23, 2023
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* refactor joint dof * add virtual end-effector for tests
fantaosha
added a commit
that referenced
this pull request
Mar 1, 2023
* 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
* 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
* 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
* 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
* 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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