Add device parameter to UrdfRobotModel in theseus/embodied/kinematics/kinematics_model.py
#355
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* Add device parameter to UrdfRobotModel
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…research#356) * Add device parameter to UrdfRobotModel
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🚀 Feature
Add device parameter to
UrdfRobotModelintheseus/embodied/kinematics/kinematics_model.pyMotivation
Placing the robot model on gpu would enable faster operations
Pitch
Update init of UrdfRobotModel to pass a device flag to self.drm_model
Alternatives
Keep the status quo and only perform operations on cpu
Additional context
See the pre-existing device flag in the differentiable-robot-model repo that is not exposed in UrdfRobot Model: https://github.com/facebookresearch/differentiable-robot-model/blob/d7bd1b3b8ef1d6dabe9b68474a622185c510e112/differentiable_robot_model/robot_model.py#L94
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