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UM-ARM-Lab / pytorch_kinematics

Robot kinematics implemented in pytorch
MIT License
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floating joints #33

Closed ZhengmaoHe closed 4 months ago

ZhengmaoHe commented 8 months ago

Hello! Thank you for such a great work, this is very useful for solving robotics problems quickly!

I checked your repository and saw that floating joints are not currently supported. I was wondering if you have any plans to support floating joints? This is crucial for mobile robots and is urgently needed for my current research too.

ZhengmaoHe commented 4 months ago

The problem was solved by adding virtual joints to the base