storm_kit.differentiable_robot_model.differentiable_rigid_body module¶
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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.
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_is_full_backward_hook
: Optional[bool]¶
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training
: bool¶
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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.
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_is_full_backward_hook
: Optional[bool]¶
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training
: bool¶
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