Differentiable rigid body

TODO

class differentiable_robot_model.rigid_body.DifferentiableRigidBody(rigid_body_params, device='cpu')

Bases: torch.nn.modules.module.Module

Differentiable Representation of a link

get_joint_damping_const()

get_joint_limits()

training: bool

update_joint_acc(qdd)

update_joint_state(q, qd)