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Commits on Jul 6, 2023

• fixed a bug in prismatic joint (facebookresearch#568)

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• Temporarily fixed a bug for vmap (facebookresearch#562)

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• fixed the rotation and translation order in pgo datasets (facebookresearch#560)

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Commits on Jun 27, 2023

• Add torchkin example (facebookresearch#559)

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• add d_near_zero to SE2 (facebookresearch#553)

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• Add untransform (facebookresearch#552)

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• transform_from -> transform (facebookresearch#551)

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• Add inverse kinematics example (facebookresearch#538)

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  luisenp

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Commits on Jun 23, 2023

• add d_near_zero (facebookresearch#544)

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Commits on Jun 22, 2023

• Refactored FK to support vmap and other staff (facebookresearch#543)

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Commits on May 25, 2023

• Rename check functions (facebookresearch#516)

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Commits on May 11, 2023

• Implemented multi-batch gradient ops (facebookresearch#515)

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Commits on May 10, 2023

• Add multi-batch compose() and transform_from() for SO(3) and SE(3) (facebookresearch#513)

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Commits on May 4, 2023

• Add multi-batch support for SE(3) unary operators (facebookresearch#512)

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Commits on May 3, 2023

• Implementation of multi-batch unary Lie group operators (facebookresearch#509)

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• Update checks to be consistent with multi-batch implementation (facebookresearch#508)

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Commits on May 2, 2023

• Implement SE3.normalize() (facebookresearch#506)

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Commits on Apr 29, 2023

• fixed bugs for jacobians of transform_from (facebookresearch#505)

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Commits on Mar 20, 2023

• Add transform_from to Lie group (facebookresearch#483)

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Commits on Mar 14, 2023

• add transform_from for so3

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• add transform_from for se3

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Commits on Mar 10, 2023

• Add forward kinematics package to labs (facebookresearch#415)

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Commits on Jan 20, 2023

• Add Lie groups functional library (facebookresearch#379)

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Commits on Dec 29, 2022

• Add hat() and vee() operators to theseus.geometry.so3 (facebookresearch#378)

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Commits on Nov 26, 2022

• Add theseus.geometry.functional.so3.inverse() (facebookresearch#374)

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• Add theseus.geometry.functional.so3.adjoint() (facebookresearch#373)

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Commits on Nov 22, 2022

• Add theseus.geometry.functional.so3 module with exp() and jexp() implementations (facebookresearch#365)

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Commits on Nov 3, 2022

• fixed quaternion bug around pi (facebookresearch#344)

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Commits on Sep 22, 2022

• remove blank lines in homography estimation

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Commits on Sep 21, 2022

• Profile AutoDiffCostFunction and refactor the homography example (facebookresearch#296)

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• Add AutogradMode to AutoDiffCostFunction (facebookresearch#300)

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Commits on Sep 14, 2022

• Add to_quaternion, rotation, translation and convention comment (facebookresearch#295)

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Commits on Sep 8, 2022

• Add functorch support for AutoDiffCostFunction (facebookresearch#268)

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Commits on Sep 7, 2022

• Refactor SO3 and SE3 to be consistent with functorch (facebookresearch#266)

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Commits on Aug 29, 2022

• add numel() to Manifold (facebookresearch#280)

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