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SamsungLabs / RAMP

[IROS 2023] RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
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Dimension mismatch in _get_mesh_control_points #3

Closed KehanLong closed 3 months ago

KehanLong commented 3 months ago

Thank you for the great project. When I try to reproduce the demo for your project, it seems that there is an error when calling the torch.forward_kinematics in _get_mesh_control_points method. The details are in the attached figure. Could you please help with that? Is that a problem of appending the gripper state?

This is tested with pytorch.kinematics 0.6.1 Screenshot from 2024-03-07 14-53-27

yhykid commented 3 months ago

Hi,bro,I have met the same problem.And I have tried a lot solving it and finally I fixed it. I supposed you can try to input the command" pip install pytorch.kinematics==0.6.0 " .