storm_kit.differentiable_robot_model.differentiable_rigid_body module¶
-
class
DifferentiableRigidBody(rigid_body_params, tensor_args={'device': 'cpu', 'dtype': torch.float32})[source]¶ Bases:
torch.nn.modules.module.ModuleDifferentiable Representation of a link
Initializes internal Module state, shared by both nn.Module and ScriptModule.
-
_is_full_backward_hook: Optional[bool]¶
-
training: bool¶
-
-
class
LearnableRigidBody(learnable_rigid_body_config, gt_rigid_body_params, device='cpu', float_dtype=torch.float32)[source]¶ Bases:
storm_kit.differentiable_robot_model.differentiable_rigid_body.DifferentiableRigidBodyLearnable Representation of a link
Initializes internal Module state, shared by both nn.Module and ScriptModule.
-
_is_full_backward_hook: Optional[bool]¶
-
training: bool¶
-