Hey Sam!
’ You’re using the net to give you the positions of your servos that will be required to meet each pose’  - Yes exactly.
The network returns a vector of joint angles/ I.e. ‘positions of [my] servos’. What I need to do is convert (using pytorch) that joint angle vector into the position of the tip of the robot. That conversion is deterministic, it’s mostly trig and linear algebra/transformations.
My current approach is failing because the forward kinematics calculator doesn’t use pytorch, so the computation graph is broken, and the gradient w.r.t the loss can’t be backpropogated