Add GPU support - Githubissues

facebookresearch / differentiable-robot-model

We are implementing differentiable models of robot manipulators, which allows us to learn typically assumed to be known models of robots for control and motion planning.

MIT License

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Add GPU support #13

Closed exhaustin closed 3 years ago

exhaustin commented 3 years ago

Fixes issue #10

Changes

Add device & dtype attributes to DifferentiableRobotModel
Add tensor type checks to all methods of DifferentiableRobotModel
Make all operations in DifferentiableRobotModel device agnostic

Test plan

Add test_device.py to test between different devices & default devices.

Notes

rigid_body_parametrizations and data_generation_utils have not been debugged or tested