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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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Jacobian support #328

Closed zxhuang97 closed 4 months ago

zxhuang97 commented 4 months ago

Hi,

Thank you for creating this wonderful library.

I noticed that calculate_jacobian is currently disabled for the forward kinematics. Is there a timeline for when this feature will be available? I imagine the Jacobian is computed and used in IK, so it might just need to be exposed to the Python side. Am I understanding this correctly?

Thanks!

------------------------------- Update ---------------------------- Based on #150, I guess it's not as easy as I thought.

balakumar-s commented 4 months ago

Yes, it's not easy yet. We did think of adding it but haven't figure out how best to implement it. What use case do you have in mind for using Jacobian?