curobo.rollout.dynamics_model.tensor_step module

class curobo.rollout.dynamics_model.tensor_step.TensorStepType(value)

Bases: Enum

An enumeration.

POSITION_TELEPORT = 0
POSITION_CLIQUE_KERNEL = 1
VELOCITY = 2
ACCELERATION_KERNEL = 3
JERK = 4
POSITION = 5
POSITION_CLIQUE = 6
ACCELERATION = 7
class curobo.rollout.dynamics_model.tensor_step.TensorStepBase(tensor_args, batch_size=1, horizon=1)

Bases: object

Parameters:
update_dt(dt)
Parameters:

dt (float) –

abstract update_batch_size(batch_size=None, horizon=None, force_update=False)
Parameters:
  • batch_size (int | None) –

  • horizon (int | None) –

  • force_update (bool) –

Return type:

None

abstract forward(start_state, u_act, out_state_seq, start_state_idx=None)
Parameters:
  • start_state (JointState) –

  • u_act (Tensor) –

  • out_state_seq (JointState) –

  • start_state_idx (Tensor | None) –

Return type:

JointState

class curobo.rollout.dynamics_model.tensor_step.TensorStepAcceleration(tensor_args, dt_h, batch_size=1, horizon=1)

Bases: TensorStepBase

Parameters:
  • tensor_args (TensorDeviceType) –

  • dt_h (Tensor) –

  • batch_size (int) –

  • horizon (int) –

update_batch_size(batch_size=None, horizon=None, force_update=False)
Parameters:
  • batch_size (int | None) –

  • horizon (int | None) –

  • force_update (bool) –

Return type:

None

forward(start_state, u_act, out_state_seq, start_state_idx=None)
Parameters:
  • start_state (JointState) –

  • u_act (Tensor) –

  • out_state_seq (JointState) –

  • start_state_idx (Tensor | None) –

Return type:

JointState

class curobo.rollout.dynamics_model.tensor_step.TensorStepPositionTeleport(tensor_args, batch_size=1, horizon=1)

Bases: TensorStepBase

Parameters:
forward(start_state, u_act, out_state_seq, start_state_idx=None)
Parameters:
  • start_state (JointState) –

  • u_act (Tensor) –

  • out_state_seq (JointState) –

  • start_state_idx (Tensor | None) –

Return type:

JointState

class curobo.rollout.dynamics_model.tensor_step.TensorStepPosition(tensor_args, dt_h, batch_size=1, horizon=1)

Bases: TensorStepBase

Parameters:
  • tensor_args (TensorDeviceType) –

  • dt_h (Tensor) –

  • batch_size (int) –

  • horizon (int) –

update_dt(dt)
Parameters:

dt (float) –

update_batch_size(batch_size=None, horizon=None, force_update=False)
Parameters:
  • batch_size (int | None) –

  • horizon (int | None) –

  • force_update (bool) –

Return type:

None

forward(start_state, u_act, out_state_seq, start_state_idx=None)
Parameters:
  • start_state (JointState) –

  • u_act (Tensor) –

  • out_state_seq (JointState) –

  • start_state_idx (Tensor | None) –

Return type:

JointState

class curobo.rollout.dynamics_model.tensor_step.TensorStepPositionClique(tensor_args, dt_h, batch_size=1, horizon=1)

Bases: TensorStepBase

Parameters:
  • tensor_args (TensorDeviceType) –

  • dt_h (Tensor) –

  • batch_size (int) –

  • horizon (int) –

update_dt(dt)
Parameters:

dt (float) –

update_batch_size(batch_size=None, horizon=None, force_update=False)
Parameters:
  • batch_size (int | None) –

  • horizon (int | None) –

  • force_update (bool) –

Return type:

None

forward(start_state, u_act, out_state_seq, start_state_idx=None)
Parameters:
  • start_state (JointState) –

  • u_act (Tensor) –

  • out_state_seq (JointState) –

  • start_state_idx (Tensor | None) –

Return type:

JointState

class curobo.rollout.dynamics_model.tensor_step.TensorStepAccelerationKernel(tensor_args, dt_h, dof, batch_size=1, horizon=1)

Bases: TensorStepBase

Parameters:
  • tensor_args (TensorDeviceType) –

  • dt_h (Tensor) –

  • dof (int) –

  • batch_size (int) –

  • horizon (int) –

update_batch_size(batch_size=None, horizon=None, force_update=False)
Parameters:
  • batch_size (int | None) –

  • horizon (int | None) –

  • force_update (bool) –

Return type:

None

forward(start_state, u_act, out_state_seq, start_state_idx=None)
Parameters:
  • start_state (JointState) –

  • u_act (Tensor) –

  • out_state_seq (JointState) –

  • start_state_idx (Tensor | None) –

Return type:

JointState

class curobo.rollout.dynamics_model.tensor_step.TensorStepPositionCliqueKernel(tensor_args, dt_h, dof, finite_difference_mode=-1, filter_velocity=False, filter_acceleration=False, filter_jerk=False, batch_size=1, horizon=1)

Bases: TensorStepBase

Parameters:
  • tensor_args (TensorDeviceType) –

  • dt_h (Tensor) –

  • dof (int) –

  • finite_difference_mode (int) –

  • filter_velocity (bool) –

  • filter_acceleration (bool) –

  • filter_jerk (bool) –

  • batch_size (int) –

  • horizon (int) –

update_batch_size(batch_size=None, horizon=None, force_update=False)
Parameters:
  • batch_size (int | None) –

  • horizon (int | None) –

  • force_update (bool) –

Return type:

None

forward(start_state, u_act, out_state_seq, start_state_idx=None)
Parameters:
  • start_state (JointState) –

  • u_act (Tensor) –

  • out_state_seq (JointState) –

  • start_state_idx (Tensor | None) –

Return type:

JointState

filter_signal(signal)
Parameters:

signal (Tensor) –