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UM-ARM-Lab / pytorch_kinematics

Robot kinematics implemented in pytorch
MIT License
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Inverse kinematics #29

Closed LemonPi closed 6 months ago

LemonPi commented 9 months ago

Add inverse kinematics (IK) via basic pseudo inverse method. Comes with many options for early termination and so on.

LemonPi commented 6 months ago

mujoco_menagerie seems to need jax (workflow file)

      - name: Clone mujoco_menagerie repository into the tests/ folder
        run: |
          git clone https://github.com/google-deepmind/mujoco_menagerie
        working-directory: ${{ runner.workspace }}/pytorch_kinematics/tests

how do you think we should include it? Something like:

      - name: Clone mujoco_menagerie repository into the tests/ folder
        run: |
          python -m pip install "jax[cpu]"
          git clone https://github.com/google-deepmind/mujoco_menagerie
        working-directory: ${{ runner.workspace }}/pytorch_kinematics/tests