Differentiable Robot Model Documentation

Overview

Our differentiable robot model library implements computations such as forward kinematics and inverse dynamics, in a fully differentiable way. We also allow to specify parameters (kinematics or dynamics parameters), which can then be identified from data (see examples folder).

Currently, our code should work with any kinematic trees. This package comes with wrappers specifically for:

• Kuka iiwa

• Franka Panda

• Allegro Hand

• Fetch Arm

• a 2-link toy robot

Getting Started

• Tutorial
  • Using the Differentiable Robot Model as a ground truth model
  • Learning the parameters of the Differentiable Robot Model
  • Putting it all together
  • Other Examples

• API
  • Differentiable robot model class
  • Differentiable rigid body

Indices and tables

• Module Index

• Index

• Search Page