curobo.rollout.dynamics_model.tensor_step module

class 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 TensorStepBase(
tensor_args: TensorDeviceType,
batch_size: int = 1,
horizon: int = 1,
)

Bases: object

update_dt(dt: float)
abstract update_batch_size(
batch_size: int | None = None,
horizon: int | None = None,
force_update: bool = False,
) → None
abstract forward(
start_state: JointState,
u_act: Tensor,
out_state_seq: JointState,
start_state_idx: Tensor | None = None,
) → JointState
class TensorStepAcceleration(
tensor_args: TensorDeviceType,
dt_h: Tensor,
batch_size: int = 1,
horizon: int = 1,
)

Bases: TensorStepBase

update_batch_size(
batch_size: int | None = None,
horizon: int | None = None,
force_update: bool = False,
) → None
forward(
start_state: JointState,
u_act: Tensor,
out_state_seq: JointState,
start_state_idx: Tensor | None = None,
) → JointState
update_dt(
dt: float,
)
class TensorStepPositionTeleport(
tensor_args: TensorDeviceType,
batch_size: int = 1,
horizon: int = 1,
)

Bases: TensorStepBase

forward(
start_state: JointState,
u_act: Tensor,
out_state_seq: JointState,
start_state_idx: Tensor | None = None,
) → JointState
abstract update_batch_size(
batch_size: int | None = None,
horizon: int | None = None,
force_update: bool = False,
) → None
update_dt(
dt: float,
)
class TensorStepPosition(
tensor_args: TensorDeviceType,
dt_h: Tensor,
batch_size: int = 1,
horizon: int = 1,
)

Bases: TensorStepBase

update_dt(dt: float)
update_batch_size(
batch_size: int | None = None,
horizon: int | None = None,
force_update: bool = False,
) → None
forward(
start_state: JointState,
u_act: Tensor,
out_state_seq: JointState,
start_state_idx: Tensor | None = None,
) → JointState
class TensorStepPositionClique(
tensor_args: TensorDeviceType,
dt_h: Tensor,
batch_size: int = 1,
horizon: int = 1,
)

Bases: TensorStepBase

update_dt(
dt: float,
)
update_batch_size(
batch_size: int | None = None,
horizon: int | None = None,
force_update: bool = False,
) → None
forward(
start_state: JointState,
u_act: Tensor,
out_state_seq: JointState,
start_state_idx: Tensor | None = None,
) → JointState
class TensorStepAccelerationKernel(
tensor_args: TensorDeviceType,
dt_h: Tensor,
dof: int,
batch_size: int = 1,
horizon: int = 1,
)

Bases: TensorStepBase

update_batch_size(
batch_size: int | None = None,
horizon: int | None = None,
force_update: bool = False,
) → None
forward(
start_state: JointState,
u_act: Tensor,
out_state_seq: JointState,
start_state_idx: Tensor | None = None,
) → JointState
update_dt(
dt: float,
)
class TensorStepPositionCliqueKernel(
tensor_args: TensorDeviceType,
dt_h: Tensor,
dof: int,
finite_difference_mode: int = -1,
filter_velocity: bool = False,
filter_acceleration: bool = False,
filter_jerk: bool = False,
batch_size: int = 1,
horizon: int = 1,
)

Bases: TensorStepBase

update_batch_size(
batch_size: int | None = None,
horizon: int | None = None,
force_update: bool = False,
) → None
forward(
start_state: JointState,
u_act: Tensor,
out_state_seq: JointState,
start_state_idx: Tensor | None = None,
) → JointState
filter_signal(
signal: Tensor,
)
update_dt(
dt: float,
)
filter_signal_jit(signal, kernel)