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.Module

Differentiable Representation of a link

Initializes internal Module state, shared by both nn.Module and ScriptModule.

_get_dynamics_parameters_values()[source]
_is_full_backward_hook: Optional[bool]
get_joint_damping_const()[source]
get_joint_limits()[source]
multiply_inertia_with_motion_vec(lin, ang)[source]
training: bool
update_joint_acc(qdd)[source]
update_joint_state(q, qd)[source]
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.DifferentiableRigidBody

Learnable Representation of a link

Initializes internal Module state, shared by both nn.Module and ScriptModule.

_get_dynamics_parameters_values()[source]
_is_full_backward_hook: Optional[bool]
training: bool