# pypose.Parameter¶

A kind of LieTensor that is to be considered a module parameter.

Parameters are of LieTensor() and torch.nn.Parameter(), that have a very special property when used with Modules: when they are assigned as Module attributes they are automatically added to the list of its parameters, and will appear, e.g., in parameters() iterator.

Parameters
• data (LieTensor) – parameter LieTensor.

• requires_grad (bool, optional) – if the parameter requires gradient. Default: True

Examples

>>> import torch, pypose as pp
>>> x = pp.Parameter(pp.randn_SO3(2))
>>> x.Log().sum().backward()