curobo.types.robot module

class NNConfig(

ik_seeder: 'Optional[Any]' = None,

)

Bases: object

ik_seeder: Any | None = None

class RobotConfig(

kinematics: CudaRobotModelConfig,

tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),

)

Bases: object

Robot configuration to load in CuRobo.

Tutorial: Configuring a New Robot

kinematics: CudaRobotModelConfig

Robot kinematics configuration to load into cuda robot model.

tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32)

static from_dict(

data_dict_in,

tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),

)

static from_basic(

urdf_path,

base_link,

ee_link,

tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),

)

write_config(file_path)

property cspace: CSpaceConfig