curobo.rollout.dynamics_model package¶
Submodules¶
- curobo.rollout.dynamics_model.integration_utils module
build_clique_matrixbuild_fd_matrixbuild_int_matrixbuild_start_state_masktensor_step_jerkeuler_integratetensor_step_accjit_tensor_step_pos_clique_contiguousjit_tensor_step_pos_cliquejit_backward_pos_cliquejit_backward_pos_clique_contiguousCliqueTensorStepCliqueTensorStep.forwardCliqueTensorStep.backwardCliqueTensorStep._backward_clsCliqueTensorStep._get_compiled_autograd_symintsCliqueTensorStep._is_compiled_autograd_tracingCliqueTensorStep._materialize_non_diff_gradsCliqueTensorStep._raw_saved_tensorsCliqueTensorStep._register_hookCliqueTensorStep._register_hook_dictCliqueTensorStep._sequence_nrCliqueTensorStep.applyCliqueTensorStep.dirty_tensorsCliqueTensorStep.generate_vmap_ruleCliqueTensorStep.is_traceableCliqueTensorStep.jvpCliqueTensorStep.mark_dirtyCliqueTensorStep.mark_non_differentiableCliqueTensorStep.mark_shared_storageCliqueTensorStep.materialize_gradsCliqueTensorStep.maybe_clear_saved_tensorsCliqueTensorStep.metadataCliqueTensorStep.nameCliqueTensorStep.needs_input_gradCliqueTensorStep.next_functionsCliqueTensorStep.non_differentiableCliqueTensorStep.register_hookCliqueTensorStep.register_prehookCliqueTensorStep.requires_gradCliqueTensorStep.save_for_backwardCliqueTensorStep.save_for_forwardCliqueTensorStep.saved_for_forwardCliqueTensorStep.saved_tensorsCliqueTensorStep.saved_variablesCliqueTensorStep.set_materialize_gradsCliqueTensorStep.setup_contextCliqueTensorStep.to_saveCliqueTensorStep.vjpCliqueTensorStep.vmap
CliqueTensorStepKernelCliqueTensorStepKernel.forwardCliqueTensorStepKernel.backwardCliqueTensorStepKernel._backward_clsCliqueTensorStepKernel._get_compiled_autograd_symintsCliqueTensorStepKernel._is_compiled_autograd_tracingCliqueTensorStepKernel._materialize_non_diff_gradsCliqueTensorStepKernel._raw_saved_tensorsCliqueTensorStepKernel._register_hookCliqueTensorStepKernel._register_hook_dictCliqueTensorStepKernel._sequence_nrCliqueTensorStepKernel.applyCliqueTensorStepKernel.dirty_tensorsCliqueTensorStepKernel.generate_vmap_ruleCliqueTensorStepKernel.is_traceableCliqueTensorStepKernel.jvpCliqueTensorStepKernel.mark_dirtyCliqueTensorStepKernel.mark_non_differentiableCliqueTensorStepKernel.mark_shared_storageCliqueTensorStepKernel.materialize_gradsCliqueTensorStepKernel.maybe_clear_saved_tensorsCliqueTensorStepKernel.metadataCliqueTensorStepKernel.nameCliqueTensorStepKernel.needs_input_gradCliqueTensorStepKernel.next_functionsCliqueTensorStepKernel.non_differentiableCliqueTensorStepKernel.register_hookCliqueTensorStepKernel.register_prehookCliqueTensorStepKernel.requires_gradCliqueTensorStepKernel.save_for_backwardCliqueTensorStepKernel.save_for_forwardCliqueTensorStepKernel.saved_for_forwardCliqueTensorStepKernel.saved_tensorsCliqueTensorStepKernel.saved_variablesCliqueTensorStepKernel.set_materialize_gradsCliqueTensorStepKernel.setup_contextCliqueTensorStepKernel.to_saveCliqueTensorStepKernel.vjpCliqueTensorStepKernel.vmap
CliqueTensorStepIdxKernelCliqueTensorStepIdxKernel.forwardCliqueTensorStepIdxKernel.backwardCliqueTensorStepIdxKernel._backward_clsCliqueTensorStepIdxKernel._get_compiled_autograd_symintsCliqueTensorStepIdxKernel._is_compiled_autograd_tracingCliqueTensorStepIdxKernel._materialize_non_diff_gradsCliqueTensorStepIdxKernel._raw_saved_tensorsCliqueTensorStepIdxKernel._register_hookCliqueTensorStepIdxKernel._register_hook_dictCliqueTensorStepIdxKernel._sequence_nrCliqueTensorStepIdxKernel.applyCliqueTensorStepIdxKernel.dirty_tensorsCliqueTensorStepIdxKernel.generate_vmap_ruleCliqueTensorStepIdxKernel.is_traceableCliqueTensorStepIdxKernel.jvpCliqueTensorStepIdxKernel.mark_dirtyCliqueTensorStepIdxKernel.mark_non_differentiableCliqueTensorStepIdxKernel.mark_shared_storageCliqueTensorStepIdxKernel.materialize_gradsCliqueTensorStepIdxKernel.maybe_clear_saved_tensorsCliqueTensorStepIdxKernel.metadataCliqueTensorStepIdxKernel.nameCliqueTensorStepIdxKernel.needs_input_gradCliqueTensorStepIdxKernel.next_functionsCliqueTensorStepIdxKernel.non_differentiableCliqueTensorStepIdxKernel.register_hookCliqueTensorStepIdxKernel.register_prehookCliqueTensorStepIdxKernel.requires_gradCliqueTensorStepIdxKernel.save_for_backwardCliqueTensorStepIdxKernel.save_for_forwardCliqueTensorStepIdxKernel.saved_for_forwardCliqueTensorStepIdxKernel.saved_tensorsCliqueTensorStepIdxKernel.saved_variablesCliqueTensorStepIdxKernel.set_materialize_gradsCliqueTensorStepIdxKernel.setup_contextCliqueTensorStepIdxKernel.to_saveCliqueTensorStepIdxKernel.vjpCliqueTensorStepIdxKernel.vmap
CliqueTensorStepCentralDifferenceKernelCliqueTensorStepCentralDifferenceKernel.forwardCliqueTensorStepCentralDifferenceKernel.backwardCliqueTensorStepCentralDifferenceKernel._backward_clsCliqueTensorStepCentralDifferenceKernel._get_compiled_autograd_symintsCliqueTensorStepCentralDifferenceKernel._is_compiled_autograd_tracingCliqueTensorStepCentralDifferenceKernel._materialize_non_diff_gradsCliqueTensorStepCentralDifferenceKernel._raw_saved_tensorsCliqueTensorStepCentralDifferenceKernel._register_hookCliqueTensorStepCentralDifferenceKernel._register_hook_dictCliqueTensorStepCentralDifferenceKernel._sequence_nrCliqueTensorStepCentralDifferenceKernel.applyCliqueTensorStepCentralDifferenceKernel.dirty_tensorsCliqueTensorStepCentralDifferenceKernel.generate_vmap_ruleCliqueTensorStepCentralDifferenceKernel.is_traceableCliqueTensorStepCentralDifferenceKernel.jvpCliqueTensorStepCentralDifferenceKernel.mark_dirtyCliqueTensorStepCentralDifferenceKernel.mark_non_differentiableCliqueTensorStepCentralDifferenceKernel.mark_shared_storageCliqueTensorStepCentralDifferenceKernel.materialize_gradsCliqueTensorStepCentralDifferenceKernel.maybe_clear_saved_tensorsCliqueTensorStepCentralDifferenceKernel.metadataCliqueTensorStepCentralDifferenceKernel.nameCliqueTensorStepCentralDifferenceKernel.needs_input_gradCliqueTensorStepCentralDifferenceKernel.next_functionsCliqueTensorStepCentralDifferenceKernel.non_differentiableCliqueTensorStepCentralDifferenceKernel.register_hookCliqueTensorStepCentralDifferenceKernel.register_prehookCliqueTensorStepCentralDifferenceKernel.requires_gradCliqueTensorStepCentralDifferenceKernel.save_for_backwardCliqueTensorStepCentralDifferenceKernel.save_for_forwardCliqueTensorStepCentralDifferenceKernel.saved_for_forwardCliqueTensorStepCentralDifferenceKernel.saved_tensorsCliqueTensorStepCentralDifferenceKernel.saved_variablesCliqueTensorStepCentralDifferenceKernel.set_materialize_gradsCliqueTensorStepCentralDifferenceKernel.setup_contextCliqueTensorStepCentralDifferenceKernel.to_saveCliqueTensorStepCentralDifferenceKernel.vjpCliqueTensorStepCentralDifferenceKernel.vmap
CliqueTensorStepIdxCentralDifferenceKernelCliqueTensorStepIdxCentralDifferenceKernel.forwardCliqueTensorStepIdxCentralDifferenceKernel.backwardCliqueTensorStepIdxCentralDifferenceKernel._backward_clsCliqueTensorStepIdxCentralDifferenceKernel._get_compiled_autograd_symintsCliqueTensorStepIdxCentralDifferenceKernel._is_compiled_autograd_tracingCliqueTensorStepIdxCentralDifferenceKernel._materialize_non_diff_gradsCliqueTensorStepIdxCentralDifferenceKernel._raw_saved_tensorsCliqueTensorStepIdxCentralDifferenceKernel._register_hookCliqueTensorStepIdxCentralDifferenceKernel._register_hook_dictCliqueTensorStepIdxCentralDifferenceKernel._sequence_nrCliqueTensorStepIdxCentralDifferenceKernel.applyCliqueTensorStepIdxCentralDifferenceKernel.dirty_tensorsCliqueTensorStepIdxCentralDifferenceKernel.generate_vmap_ruleCliqueTensorStepIdxCentralDifferenceKernel.is_traceableCliqueTensorStepIdxCentralDifferenceKernel.jvpCliqueTensorStepIdxCentralDifferenceKernel.mark_dirtyCliqueTensorStepIdxCentralDifferenceKernel.mark_non_differentiableCliqueTensorStepIdxCentralDifferenceKernel.mark_shared_storageCliqueTensorStepIdxCentralDifferenceKernel.materialize_gradsCliqueTensorStepIdxCentralDifferenceKernel.maybe_clear_saved_tensorsCliqueTensorStepIdxCentralDifferenceKernel.metadataCliqueTensorStepIdxCentralDifferenceKernel.nameCliqueTensorStepIdxCentralDifferenceKernel.needs_input_gradCliqueTensorStepIdxCentralDifferenceKernel.next_functionsCliqueTensorStepIdxCentralDifferenceKernel.non_differentiableCliqueTensorStepIdxCentralDifferenceKernel.register_hookCliqueTensorStepIdxCentralDifferenceKernel.register_prehookCliqueTensorStepIdxCentralDifferenceKernel.requires_gradCliqueTensorStepIdxCentralDifferenceKernel.save_for_backwardCliqueTensorStepIdxCentralDifferenceKernel.save_for_forwardCliqueTensorStepIdxCentralDifferenceKernel.saved_for_forwardCliqueTensorStepIdxCentralDifferenceKernel.saved_tensorsCliqueTensorStepIdxCentralDifferenceKernel.saved_variablesCliqueTensorStepIdxCentralDifferenceKernel.set_materialize_gradsCliqueTensorStepIdxCentralDifferenceKernel.setup_contextCliqueTensorStepIdxCentralDifferenceKernel.to_saveCliqueTensorStepIdxCentralDifferenceKernel.vjpCliqueTensorStepIdxCentralDifferenceKernel.vmap
CliqueTensorStepCoalesceKernelCliqueTensorStepCoalesceKernel.forwardCliqueTensorStepCoalesceKernel.backwardCliqueTensorStepCoalesceKernel._backward_clsCliqueTensorStepCoalesceKernel._get_compiled_autograd_symintsCliqueTensorStepCoalesceKernel._is_compiled_autograd_tracingCliqueTensorStepCoalesceKernel._materialize_non_diff_gradsCliqueTensorStepCoalesceKernel._raw_saved_tensorsCliqueTensorStepCoalesceKernel._register_hookCliqueTensorStepCoalesceKernel._register_hook_dictCliqueTensorStepCoalesceKernel._sequence_nrCliqueTensorStepCoalesceKernel.applyCliqueTensorStepCoalesceKernel.dirty_tensorsCliqueTensorStepCoalesceKernel.generate_vmap_ruleCliqueTensorStepCoalesceKernel.is_traceableCliqueTensorStepCoalesceKernel.jvpCliqueTensorStepCoalesceKernel.mark_dirtyCliqueTensorStepCoalesceKernel.mark_non_differentiableCliqueTensorStepCoalesceKernel.mark_shared_storageCliqueTensorStepCoalesceKernel.materialize_gradsCliqueTensorStepCoalesceKernel.maybe_clear_saved_tensorsCliqueTensorStepCoalesceKernel.metadataCliqueTensorStepCoalesceKernel.nameCliqueTensorStepCoalesceKernel.needs_input_gradCliqueTensorStepCoalesceKernel.next_functionsCliqueTensorStepCoalesceKernel.non_differentiableCliqueTensorStepCoalesceKernel.register_hookCliqueTensorStepCoalesceKernel.register_prehookCliqueTensorStepCoalesceKernel.requires_gradCliqueTensorStepCoalesceKernel.save_for_backwardCliqueTensorStepCoalesceKernel.save_for_forwardCliqueTensorStepCoalesceKernel.saved_for_forwardCliqueTensorStepCoalesceKernel.saved_tensorsCliqueTensorStepCoalesceKernel.saved_variablesCliqueTensorStepCoalesceKernel.set_materialize_gradsCliqueTensorStepCoalesceKernel.setup_contextCliqueTensorStepCoalesceKernel.to_saveCliqueTensorStepCoalesceKernel.vjpCliqueTensorStepCoalesceKernel.vmap
AccelerationTensorStepKernelAccelerationTensorStepKernel.forwardAccelerationTensorStepKernel.backwardAccelerationTensorStepKernel._backward_clsAccelerationTensorStepKernel._get_compiled_autograd_symintsAccelerationTensorStepKernel._is_compiled_autograd_tracingAccelerationTensorStepKernel._materialize_non_diff_gradsAccelerationTensorStepKernel._raw_saved_tensorsAccelerationTensorStepKernel._register_hookAccelerationTensorStepKernel._register_hook_dictAccelerationTensorStepKernel._sequence_nrAccelerationTensorStepKernel.applyAccelerationTensorStepKernel.dirty_tensorsAccelerationTensorStepKernel.generate_vmap_ruleAccelerationTensorStepKernel.is_traceableAccelerationTensorStepKernel.jvpAccelerationTensorStepKernel.mark_dirtyAccelerationTensorStepKernel.mark_non_differentiableAccelerationTensorStepKernel.mark_shared_storageAccelerationTensorStepKernel.materialize_gradsAccelerationTensorStepKernel.maybe_clear_saved_tensorsAccelerationTensorStepKernel.metadataAccelerationTensorStepKernel.nameAccelerationTensorStepKernel.needs_input_gradAccelerationTensorStepKernel.next_functionsAccelerationTensorStepKernel.non_differentiableAccelerationTensorStepKernel.register_hookAccelerationTensorStepKernel.register_prehookAccelerationTensorStepKernel.requires_gradAccelerationTensorStepKernel.save_for_backwardAccelerationTensorStepKernel.save_for_forwardAccelerationTensorStepKernel.saved_for_forwardAccelerationTensorStepKernel.saved_tensorsAccelerationTensorStepKernel.saved_variablesAccelerationTensorStepKernel.set_materialize_gradsAccelerationTensorStepKernel.setup_contextAccelerationTensorStepKernel.to_saveAccelerationTensorStepKernel.vjpAccelerationTensorStepKernel.vmap
AccelerationTensorStepIdxKernelAccelerationTensorStepIdxKernel.forwardAccelerationTensorStepIdxKernel.backwardAccelerationTensorStepIdxKernel._backward_clsAccelerationTensorStepIdxKernel._get_compiled_autograd_symintsAccelerationTensorStepIdxKernel._is_compiled_autograd_tracingAccelerationTensorStepIdxKernel._materialize_non_diff_gradsAccelerationTensorStepIdxKernel._raw_saved_tensorsAccelerationTensorStepIdxKernel._register_hookAccelerationTensorStepIdxKernel._register_hook_dictAccelerationTensorStepIdxKernel._sequence_nrAccelerationTensorStepIdxKernel.applyAccelerationTensorStepIdxKernel.dirty_tensorsAccelerationTensorStepIdxKernel.generate_vmap_ruleAccelerationTensorStepIdxKernel.is_traceableAccelerationTensorStepIdxKernel.jvpAccelerationTensorStepIdxKernel.mark_dirtyAccelerationTensorStepIdxKernel.mark_non_differentiableAccelerationTensorStepIdxKernel.mark_shared_storageAccelerationTensorStepIdxKernel.materialize_gradsAccelerationTensorStepIdxKernel.maybe_clear_saved_tensorsAccelerationTensorStepIdxKernel.metadataAccelerationTensorStepIdxKernel.nameAccelerationTensorStepIdxKernel.needs_input_gradAccelerationTensorStepIdxKernel.next_functionsAccelerationTensorStepIdxKernel.non_differentiableAccelerationTensorStepIdxKernel.register_hookAccelerationTensorStepIdxKernel.register_prehookAccelerationTensorStepIdxKernel.requires_gradAccelerationTensorStepIdxKernel.save_for_backwardAccelerationTensorStepIdxKernel.save_for_forwardAccelerationTensorStepIdxKernel.saved_for_forwardAccelerationTensorStepIdxKernel.saved_tensorsAccelerationTensorStepIdxKernel.saved_variablesAccelerationTensorStepIdxKernel.set_materialize_gradsAccelerationTensorStepIdxKernel.setup_contextAccelerationTensorStepIdxKernel.to_saveAccelerationTensorStepIdxKernel.vjpAccelerationTensorStepIdxKernel.vmap
tensor_step_pos_cliquestep_acc_semi_eulertensor_step_acc_semi_eulertensor_step_veltensor_step_postensor_step_pos_iktensor_linspacesum_matrixinterpolate_kernelaction_interpolate_kernel
- curobo.rollout.dynamics_model.kinematic_model module
TimeTrajConfigKinematicModelStateKinematicModelState.state_seqKinematicModelState.ee_pos_seqKinematicModelState.ee_quat_seqKinematicModelState.robot_spheresKinematicModelState.link_pos_seqKinematicModelState.link_quat_seqKinematicModelState.lin_jac_seqKinematicModelState.ang_jac_seqKinematicModelState.link_namesKinematicModelState.ee_poseKinematicModelState.link_poseKinematicModelState.link_posesKinematicModelState._abc_implKinematicModelState._is_protocolKinematicModelState.countKinematicModelState.index
KinematicModelConfigKinematicModelConfig.robot_configKinematicModelConfig.dt_traj_paramsKinematicModelConfig.tensor_argsKinematicModelConfig.vel_scaleKinematicModelConfig.state_estimation_varianceKinematicModelConfig.batch_sizeKinematicModelConfig.horizonKinematicModelConfig.control_spaceKinematicModelConfig.state_filter_cfgKinematicModelConfig.teleport_modeKinematicModelConfig.return_full_act_bufferKinematicModelConfig.state_finite_difference_modeKinematicModelConfig.filter_robot_commandKinematicModelConfig.from_dict
KinematicModelKinematicModel.update_traj_dtKinematicModel.get_next_stateKinematicModel.tensor_stepKinematicModel.robot_cmd_tensor_stepKinematicModel.update_cmd_batch_sizeKinematicModel.update_batch_sizeKinematicModel.forwardKinematicModel.integrate_actionKinematicModel.integrate_action_stepKinematicModel.filter_robot_stateKinematicModel.get_robot_commandKinematicModel.action_bound_lowsKinematicModel.action_bound_highsKinematicModel.init_action_meanKinematicModel.retract_configKinematicModel.batch_sizeKinematicModel.control_spaceKinematicModel.cspace_distance_weightKinematicModel.filter_robot_commandKinematicModel.from_dictKinematicModel.horizonKinematicModel.return_full_act_bufferKinematicModel.state_estimation_varianceKinematicModel.state_filter_cfgKinematicModel.state_finite_difference_modeKinematicModel.teleport_modeKinematicModel.vel_scaleKinematicModel.robot_configKinematicModel.dt_traj_paramsKinematicModel.tensor_argsKinematicModel.null_space_weightKinematicModel.max_accelerationKinematicModel.max_jerkKinematicModel.action_horizonKinematicModel.get_state_boundsKinematicModel.get_action_from_stateKinematicModel.get_state_from_action
- curobo.rollout.dynamics_model.model_base module
- curobo.rollout.dynamics_model.tensor_step module