curobo.rollout.arm_reacher module

class curobo.rollout.arm_reacher.ArmReacherMetrics(cost: 'Optional[T_BValue_float]' = None, constraint: 'Optional[T_BValue_float]' = None, feasible: 'Optional[T_BValue_bool]' = None, state: 'Optional[State]' = None, cspace_error: Optional[Annotated[torch.Tensor, {'__torchtyping__': True, 'details': ('batch', 'value', torch.float32), 'cls_name': 'TensorType'}]] = None, position_error: Optional[Annotated[torch.Tensor, {'__torchtyping__': True, 'details': ('batch', 'value', torch.float32), 'cls_name': 'TensorType'}]] = None, rotation_error: Optional[Annotated[torch.Tensor, {'__torchtyping__': True, 'details': ('batch', 'value', torch.float32), 'cls_name': 'TensorType'}]] = None, pose_error: Optional[Annotated[torch.Tensor, {'__torchtyping__': True, 'details': ('batch', 'value', torch.float32), 'cls_name': 'TensorType'}]] = None, goalset_index: Optional[Annotated[torch.Tensor, {'__torchtyping__': True, 'details': ('batch', 'value', torch.int64), 'cls_name': 'TensorType'}]] = None, null_space_error: Optional[Annotated[torch.Tensor, {'__torchtyping__': True, 'details': ('batch', 'value', torch.float32), 'cls_name': 'TensorType'}]] = None)

Bases: RolloutMetrics

Parameters:
  • cost (Tensor | None) –

  • constraint (Tensor | None) –

  • feasible (Tensor | None) –

  • state (State | None) –

  • cspace_error (Tensor | None) –

  • position_error (Tensor | None) –

  • rotation_error (Tensor | None) –

  • pose_error (Tensor | None) –

  • goalset_index (Tensor | None) –

  • null_space_error (Tensor | None) –

cspace_error: Tensor | None = None
position_error: Tensor | None = None
rotation_error: Tensor | None = None
pose_error: Tensor | None = None
goalset_index: Tensor | None = None
null_space_error: Tensor | None = None
clone(clone_state=False)
_abc_impl = <_abc._abc_data object>
class curobo.rollout.arm_reacher.ArmReacherCostConfig(bound_cfg: curobo.rollout.cost.bound_cost.BoundCostConfig | None = None, null_space_cfg: curobo.rollout.cost.dist_cost.DistCostConfig | None = None, manipulability_cfg: curobo.rollout.cost.manipulability_cost.ManipulabilityCostConfig | None = None, stop_cfg: curobo.rollout.cost.stop_cost.StopCostConfig | None = None, self_collision_cfg: curobo.rollout.cost.self_collision_cost.SelfCollisionCostConfig | None = None, primitive_collision_cfg: curobo.rollout.cost.primitive_collision_cost.PrimitiveCollisionCostConfig | None = None, pose_cfg: curobo.rollout.cost.pose_cost.PoseCostConfig | None = None, cspace_cfg: curobo.rollout.cost.dist_cost.DistCostConfig | None = None, straight_line_cfg: curobo.rollout.cost.cost_base.CostConfig | None = None, zero_acc_cfg: curobo.rollout.cost.cost_base.CostConfig | None = None, zero_vel_cfg: curobo.rollout.cost.cost_base.CostConfig | None = None, zero_jerk_cfg: curobo.rollout.cost.cost_base.CostConfig | None = None, link_pose_cfg: curobo.rollout.cost.pose_cost.PoseCostConfig | None = None)

Bases: ArmCostConfig

Parameters:
pose_cfg: PoseCostConfig | None = None
cspace_cfg: DistCostConfig | None = None
straight_line_cfg: CostConfig | None = None
zero_acc_cfg: CostConfig | None = None
zero_vel_cfg: CostConfig | None = None
zero_jerk_cfg: CostConfig | None = None
static _get_base_keys()
static from_dict(data_dict, robot_cfg, world_coll_checker=None, tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32))
Parameters:
class curobo.rollout.arm_reacher.ArmReacherConfig(tensor_args: 'TensorDeviceType', model_cfg: curobo.rollout.dynamics_model.kinematic_model.KinematicModelConfig, cost_cfg: curobo.rollout.arm_reacher.ArmReacherCostConfig, constraint_cfg: curobo.rollout.arm_reacher.ArmReacherCostConfig, convergence_cfg: curobo.rollout.arm_reacher.ArmReacherCostConfig, world_coll_checker: curobo.geom.sdf.world.WorldCollision | None = None)

Bases: ArmBaseConfig

Parameters:
cost_cfg: ArmReacherCostConfig
constraint_cfg: ArmReacherCostConfig
convergence_cfg: ArmReacherCostConfig
static cost_from_dict(cost_data_dict, robot_cfg, world_coll_checker=None, tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32))
Parameters:
class curobo.rollout.arm_reacher.ArmReacher(config=None)

Bases: ArmBase, ArmReacherConfig

Inheritance diagram of curobo.rollout.arm_reacher.ArmReacher

Parameters:

config (ArmReacherConfig | None) –

cost_fn(state, action_batch=None)

Compute cost given that state dictionary and actions

curobo.rollout.cost.PoseCost curobo.rollout.cost.DistCost

Parameters:

state (KinematicModelState) –

convergence_fn(state, out_metrics=None)
Parameters:
Return type:

ArmReacherMetrics

update_params(goal)

Update params for the cost terms and dynamics model.

Parameters:

goal (Goal) –

enable_pose_cost(enable=True)
Parameters:

enable (bool) –

enable_cspace_cost(enable=True)
Parameters:

enable (bool) –

get_pose_costs(include_link_pose=False, include_convergence=True)
Parameters:
  • include_link_pose (bool) –

  • include_convergence (bool) –

update_pose_cost_metric(metric)
Parameters:

metric (PoseCostMetric) –