Features for Differentiable Forward Kinematics - Githubissues

facebookresearch / theseus

A library for differentiable nonlinear optimization

MIT License

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Features for Differentiable Forward Kinematics #464

Open fantaosha opened 1 year ago

fantaosha commented 1 year ago

🚀 Feature

Motivation

Pitch

Alternatives

Additional context

fantaosha commented 1 year ago

Fixed kinematics tree after it is built
Add Robot.forward_kinematics()
Add backward() to each joint