curobo.cuda_robot_model.cuda_robot_model module

class CudaRobotModelConfig(
tensor_args: 'TensorDeviceType',
link_names: 'List[str]',
kinematics_config: 'KinematicsTensorConfig',
self_collision_config: 'Optional[SelfCollisionKinematicsConfig]' = None,
kinematics_parser: 'Optional[KinematicsParser]' = None,
compute_jacobian: 'bool' = False,
use_global_cumul: 'bool' = False,
generator_config: 'Optional[CudaRobotGeneratorConfig]' = None,
)

Bases: object

tensor_args: TensorDeviceType
kinematics_config: KinematicsTensorConfig
self_collision_config: SelfCollisionKinematicsConfig | None = None
kinematics_parser: KinematicsParser | None = None
compute_jacobian: bool = False
use_global_cumul: bool = False
generator_config: CudaRobotGeneratorConfig | None = None
get_joint_limits()
static from_basic_urdf(
urdf_path: str,
base_link: str,
ee_link: str,
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
) → CudaRobotModelConfig

Load a cuda robot model from only urdf. This does not support collision queries.

Parameters:

  • urdf_path – Path of urdf file.

  • base_link – Name of base link.

  • ee_link – Name of end-effector link.

  • tensor_args – Device to load robot model. Defaults to TensorDeviceType().

Returns:

cuda robot model configuration.

Return type:

CudaRobotModelConfig

static from_basic_usd(
usd_path: str,
usd_robot_root: str,
base_link: str,
ee_link: str,
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
) → CudaRobotModelConfig

Load a cuda robot model from only urdf. This does not support collision queries.

Parameters:

  • urdf_path – Path of urdf file.

  • base_link – Name of base link.

  • ee_link – Name of end-effector link.

  • tensor_args – Device to load robot model. Defaults to TensorDeviceType().

Returns:

cuda robot model configuration.

Return type:

CudaRobotModelConfig

static from_robot_yaml_file(
file_path: str,
ee_link: str | None = None,
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
)
static from_data_dict(
data_dict: Dict[str, Any],
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
)
static from_config(
config: CudaRobotGeneratorConfig,
)
property cspace
property dof: int
class CudaRobotModelState(
ee_position: Tensor,
ee_quaternion: Tensor,
lin_jacobian: Tensor | None = None,
ang_jacobian: Tensor | None = None,
links_position: Tensor | None = None,
links_quaternion: Tensor | None = None,
link_spheres_tensor: Tensor | None = None,
link_names: str | None = None,
)

Bases: object

Dataclass that stores kinematics information.

ee_position: Tensor

End-effector position stored as x,y,z in meters [b, 3]. End-effector is defined by CudaRobotModel.ee_link.

ee_quaternion: Tensor

End-effector orientaiton stored as quaternion qw, qx, qy, qz [b,4]. End-effector is defined by CudaRobotModel.ee_link.

lin_jacobian: Tensor | None = None

Linear Jacobian. Currently not supported.

ang_jacobian: Tensor | None = None

Angular Jacobian. Currently not supported.

Position of links specified by link_names (CudaRobotModel.link_names).

Quaternions of links specified by link names (CudaRobotModel.link_names).

Position of spheres specified by collision spheres (CudaRobotModel.robot_spheres) in x, y, z, r format [b,n,4].

Names of links that each index in links_position and links_quaternion corresponds to.

property ee_pose: Pose

Get end-effector pose as a Pose object.

Get spheres representing robot geometry as a tensor with [batch,4], [x,y,z,radius].

Get link poses as a dictionary of link name to Pose object.

class CudaRobotModel(
config: CudaRobotModelConfig,
)

Bases: CudaRobotModelConfig

CUDA Accelerated Robot Model

Currently dof is created only for links that we need to compute kinematics. E.g., for robots with many serial chains, add all links of the robot to get the correct dof. This is not an issue if you are loading collision spheres as that will cover the full geometry of the robot.

update_batch_size(
batch_size,
force_update=False,
reset_buffers=False,
)
forward(
q,
link_name=None,
calculate_jacobian=False,
)
get_state(
q,
link_name=None,
calculate_jacobian=False,
) → CudaRobotModelState
get_robot_as_mesh(
q: Tensor,
)
get_robot_as_spheres(
q: Tensor,
filter_valid: bool = True,
)
_cuda_forward(q)
property all_articulated_joint_names
get_self_collision_config() → SelfCollisionKinematicsConfig
get_dof() → int
property dof: int
property joint_names: List[str]
property total_spheres: int
property lock_jointstate
get_full_js(
js: JointState,
)
get_mimic_js(
js: JointState,
)
property robot_spheres
update_kinematics_config(
new_kin_config: KinematicsTensorConfig,
)
property retract_config
compute_jacobian: bool = False
property cspace
static from_basic_urdf(
urdf_path: str,
base_link: str,
ee_link: str,
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
) → CudaRobotModelConfig

Load a cuda robot model from only urdf. This does not support collision queries.

Parameters:

  • urdf_path – Path of urdf file.

  • base_link – Name of base link.

  • ee_link – Name of end-effector link.

  • tensor_args – Device to load robot model. Defaults to TensorDeviceType().

Returns:

cuda robot model configuration.

Return type:

CudaRobotModelConfig

static from_basic_usd(
usd_path: str,
usd_robot_root: str,
base_link: str,
ee_link: str,
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
) → CudaRobotModelConfig

Load a cuda robot model from only urdf. This does not support collision queries.

Parameters:

  • urdf_path – Path of urdf file.

  • base_link – Name of base link.

  • ee_link – Name of end-effector link.

  • tensor_args – Device to load robot model. Defaults to TensorDeviceType().

Returns:

cuda robot model configuration.

Return type:

CudaRobotModelConfig

static from_config(
config: CudaRobotGeneratorConfig,
)
static from_data_dict(
data_dict: Dict[str, Any],
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
)
static from_robot_yaml_file(
file_path: str,
ee_link: str | None = None,
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
)
generator_config: CudaRobotGeneratorConfig | None = None
get_joint_limits()
kinematics_parser: KinematicsParser | None = None
self_collision_config: SelfCollisionKinematicsConfig | None = None
use_global_cumul: bool = False
tensor_args: TensorDeviceType
kinematics_config: KinematicsTensorConfig