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Add new stateless FK #35

Merged
merged 9 commits into from
Apr 22, 2022
Merged

Add new stateless FK #35

merged 9 commits into from
Apr 22, 2022

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exhaustin
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@exhaustin exhaustin commented Mar 6, 2022 •
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Changes

  • Add recursive implementation of forward kinematics
  • Add forward kinematics API that returns poses off all links (instead of just the specified end-effector), which uses the recursive implementation

@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Mar 6, 2022
@exhaustin exhaustin marked this pull request as ready for review April 5, 2022 22:57
@exhaustin exhaustin requested a review from fmeier April 5, 2022 22:57
fmeier
fmeier reviewed Apr 8, 2022
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I have added a few questions

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@exhaustin
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Note: Previous confusing changes involving self._bodies2 and various duplicated code was for indexing bodies with link names instead of body indices.
I cleaned up by getting it to work with the original indexing method in self._bodies.

@exhaustin exhaustin requested a review from fmeier April 19, 2022 00:30
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fmeier approved these changes Apr 22, 2022
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lgtm!

@exhaustin exhaustin merged commit 76c2856 into main Apr 22, 2022
@exhaustin exhaustin deleted the aw-stateless-fk branch April 22, 2022 21:06
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