curobo.rollout.cost.manipulability_cost module

class curobo.rollout.cost.manipulability_cost.ManipulabilityCostConfig(weight: torch.Tensor | float | List[float], tensor_args: curobo.types.base.TensorDeviceType = None, distance_threshold: float = 0.0, classify: bool = False, terminal: bool = False, run_weight: float | None = None, dof: int = 7, vec_weight: torch.Tensor | List[float] | float | NoneType = None, max_value: float | None = None, hinge_value: float | None = None, vec_convergence: List[float] | None = None, threshold_value: float | None = None, return_loss: bool = False, use_joint_limits: bool = False)

Bases: CostConfig

Parameters:
  • weight (Tensor | float | List[float]) –

  • tensor_args (TensorDeviceType) –

  • distance_threshold (float) –

  • classify (bool) –

  • terminal (bool) –

  • run_weight (float | None) –

  • dof (int) –

  • vec_weight (Tensor | List[float] | float | None) –

  • max_value (float | None) –

  • hinge_value (float | None) –

  • vec_convergence (List[float] | None) –

  • threshold_value (float | None) –

  • return_loss (bool) –

  • use_joint_limits (bool) –

use_joint_limits: bool = False
class curobo.rollout.cost.manipulability_cost.ManipulabilityCost(config)

Bases: CostBase, ManipulabilityCostConfig

Initialize class

Parameters:
  • config (Optional[CostConfig], optional) – To initialize this class directly, pass a config.

  • class (If this is a base) –

  • CostConfig. (it's assumed that you will initialize the child class with) –

  • None. (Defaults to) –

forward(jac_batch, q, qdot)

Define the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

manipulability(q, jac_batch, qdot=None)
joint_limited_manipulability_delta(q, jac_batch, qdot=None)