kinematics refactor with mimic joint support

2024-04-03 18:42:01 -07:00
parent b481ee201a
commit 774dcfd609
60 changed files with 2177 additions and 810 deletions
--- a/src/curobo/util/usd_helper.py
+++ b/src/curobo/util/usd_helper.py
@@ -842,7 +842,7 @@ class UsdHelper:
            usd_helper.add_world_to_stage(world_model, base_frame=base_frame)

        animation_links = kin_model.kinematics_config.mesh_link_names
-        animation_poses = kin_model.get_link_poses(q_traj.position, animation_links)
+        animation_poses = kin_model.get_link_poses(q_traj.position.contiguous(), animation_links)
        # add offsets for visual mesh:
        for i, ival in enumerate(offsets):
            offset_pose = Pose.from_list(ival)