curobo.util package¶
Submodules¶
- curobo.util.error_metrics module
- curobo.util.helpers module
- curobo.util.logger module
- curobo.util.metrics module
CuroboMetricsCuroboMetrics.timeCuroboMetrics.cspace_path_lengthCuroboMetrics.perception_successCuroboMetrics.perception_interpolated_successCuroboMetrics.jerkCuroboMetrics.perception_timeCuroboMetrics.attemptsCuroboMetrics.collisionCuroboMetrics.eef_orientation_path_lengthCuroboMetrics.eef_position_path_lengthCuroboMetrics.joint_limit_violationCuroboMetrics.motion_timeCuroboMetrics.orientation_errorCuroboMetrics.physical_violationCuroboMetrics.position_errorCuroboMetrics.self_collisionCuroboMetrics.skipCuroboMetrics.solve_timeCuroboMetrics.successCuroboMetrics.trajectory_length
CuroboGroupMetricsCuroboGroupMetrics.timeCuroboGroupMetrics.cspace_path_lengthCuroboGroupMetrics.perception_successCuroboGroupMetrics.perception_interpolated_successCuroboGroupMetrics.jerkCuroboGroupMetrics.perception_timeCuroboGroupMetrics.from_listCuroboGroupMetrics.print_summaryCuroboGroupMetrics.group_sizeCuroboGroupMetrics.successCuroboGroupMetrics.skipsCuroboGroupMetrics.env_collision_rateCuroboGroupMetrics.self_collision_rateCuroboGroupMetrics.joint_violation_rateCuroboGroupMetrics.physical_violation_rateCuroboGroupMetrics.within_one_cm_rateCuroboGroupMetrics.within_five_cm_rateCuroboGroupMetrics.within_fifteen_deg_rateCuroboGroupMetrics.within_thirty_deg_rateCuroboGroupMetrics.eef_position_path_lengthCuroboGroupMetrics.eef_orientation_path_lengthCuroboGroupMetrics.attemptsCuroboGroupMetrics.position_errorCuroboGroupMetrics.orientation_errorCuroboGroupMetrics.motion_timeCuroboGroupMetrics.solve_timeCuroboGroupMetrics.solve_time_per_step
- curobo.util.sample_lib module
SampleConfigSampleConfig.horizonSampleConfig.d_actionSampleConfig.tensor_argsSampleConfig.fixed_samplesSampleConfig.sample_ratioSampleConfig.seedSampleConfig.filter_coeffsSampleConfig.n_knotsSampleConfig.scale_trilSampleConfig.covariance_matrixSampleConfig.sample_methodSampleConfig.cov_modeSampleConfig.sine_periodSampleConfig.degree
BaseSampleLibBaseSampleLib.scale_trilBaseSampleLib.get_samplesBaseSampleLib.filter_samplesBaseSampleLib.filter_smoothBaseSampleLib.cov_modeBaseSampleLib.covariance_matrixBaseSampleLib.degreeBaseSampleLib.fixed_samplesBaseSampleLib.n_knotsBaseSampleLib.sample_methodBaseSampleLib.seedBaseSampleLib.sine_periodBaseSampleLib.horizonBaseSampleLib.d_actionBaseSampleLib.tensor_argsBaseSampleLib.sample_ratioBaseSampleLib.filter_coeffs
HaltonSampleLibHaltonSampleLib.get_samplesHaltonSampleLib.cov_modeHaltonSampleLib.covariance_matrixHaltonSampleLib.degreeHaltonSampleLib.filter_samplesHaltonSampleLib.filter_smoothHaltonSampleLib.fixed_samplesHaltonSampleLib.n_knotsHaltonSampleLib.sample_methodHaltonSampleLib.scale_trilHaltonSampleLib.seedHaltonSampleLib.sine_periodHaltonSampleLib.horizonHaltonSampleLib.d_actionHaltonSampleLib.tensor_argsHaltonSampleLib.sample_ratioHaltonSampleLib.filter_coeffs
bsplineKnotSampleLibKnotSampleLib.scale_trilKnotSampleLib.get_samplesKnotSampleLib.cov_modeKnotSampleLib.covariance_matrixKnotSampleLib.degreeKnotSampleLib.fixed_samplesKnotSampleLib.n_knotsKnotSampleLib.sample_methodKnotSampleLib.seedKnotSampleLib.sine_periodKnotSampleLib.horizonKnotSampleLib.d_actionKnotSampleLib.tensor_argsKnotSampleLib.sample_ratioKnotSampleLib.filter_coeffs
RandomSampleLibRandomSampleLib.scale_trilRandomSampleLib.get_samplesRandomSampleLib.cov_modeRandomSampleLib.covariance_matrixRandomSampleLib.degreeRandomSampleLib.filter_samplesRandomSampleLib.filter_smoothRandomSampleLib.fixed_samplesRandomSampleLib.n_knotsRandomSampleLib.sample_methodRandomSampleLib.seedRandomSampleLib.sine_periodRandomSampleLib.horizonRandomSampleLib.d_actionRandomSampleLib.tensor_argsRandomSampleLib.sample_ratioRandomSampleLib.filter_coeffs
SineSampleLibSineSampleLib.get_samplesSineSampleLib.generate_sine_waveSineSampleLib.cov_modeSineSampleLib.covariance_matrixSineSampleLib.degreeSineSampleLib.filter_samplesSineSampleLib.filter_smoothSineSampleLib.fixed_samplesSineSampleLib.n_knotsSineSampleLib.sample_methodSineSampleLib.scale_trilSineSampleLib.seedSineSampleLib.sine_periodSineSampleLib.horizonSineSampleLib.d_actionSineSampleLib.tensor_argsSineSampleLib.sample_ratioSineSampleLib.filter_coeffs
StompSampleLibStompSampleLib.filter_coeffsStompSampleLib.get_samplesStompSampleLib.cov_modeStompSampleLib.covariance_matrixStompSampleLib.degreeStompSampleLib.filter_samplesStompSampleLib.filter_smoothStompSampleLib.fixed_samplesStompSampleLib.n_knotsStompSampleLib.sample_methodStompSampleLib.scale_trilStompSampleLib.seedStompSampleLib.sine_periodStompSampleLib.horizonStompSampleLib.d_actionStompSampleLib.tensor_argsStompSampleLib.sample_ratio
SampleLibSampleLib.get_samplesSampleLib.cov_modeSampleLib.covariance_matrixSampleLib.degreeSampleLib.filter_samplesSampleLib.filter_smoothSampleLib.fixed_samplesSampleLib.n_knotsSampleLib.sample_methodSampleLib.scale_trilSampleLib.seedSampleLib.sine_periodSampleLib.horizonSampleLib.d_actionSampleLib.tensor_argsSampleLib.sample_ratioSampleLib.filter_coeffs
get_ranged_halton_samplesHaltonGeneratorbound_samplesgaussian_transformgenerate_noisegenerate_noise_npgenerate_prime_numbersgenerate_van_der_corput_samplegenerate_van_der_corput_samples_batchgenerate_halton_samplesgenerate_gaussian_halton_samplesgenerate_gaussian_sobol_samples
- curobo.util.state_filter module
FilterConfigJointStateFilterJointStateFilter.filter_joint_stateJointStateFilter.integrate_jerkJointStateFilter.integrate_accJointStateFilter.integrate_velJointStateFilter.enableJointStateFilter.from_dictJointStateFilter.integrate_posJointStateFilter.teleport_modeJointStateFilter.tensor_argsJointStateFilter.filter_coeffJointStateFilter.dtJointStateFilter.control_spaceJointStateFilter.reset
- curobo.util.tensor_util module
- curobo.util.torch_utils module
find_first_idxfind_last_idxis_cuda_graph_availableis_cuda_graph_reset_availableis_torch_compile_availableget_torch_compile_optionsdisable_torch_compile_globalset_torch_compile_global_optionsget_torch_jit_decoratoris_lru_cache_avaiableget_cache_fn_decoratorempty_decoratorround_away_from_zero
- curobo.util.trajectory module
InterpolateTypeget_linear_trajget_smooth_trajectoryget_spline_interpolated_trajectoryget_batch_interpolated_trajectoryget_cpu_linear_interpolationget_cpu_kunz_stilman_interpolationget_interpolated_trajectorylinear_smoothcalculate_dt_fixedcalculate_dtcalculate_dt_no_clampcalculate_traj_stepscalculate_tsteps
- curobo.util.usd_helper module
set_prim_translateset_prim_transformget_prim_world_poseget_transformget_position_quatset_geom_mesh_attrsset_geom_cube_attrsset_geom_cylinder_attrsset_geom_sphere_attrsset_cylinder_attrsget_cylinder_attrsget_capsule_attrsget_cube_attrsget_sphere_attrsget_mesh_attrscreate_stageUsdHelperUsdHelper.create_stageUsdHelper.add_subrootUsdHelper.load_stage_from_fileUsdHelper.load_stageUsdHelper.get_poseUsdHelper.get_obstacles_from_stageUsdHelper.add_world_to_stageUsdHelper.get_prim_from_obstacleUsdHelper.add_cuboid_to_stageUsdHelper.add_cylinder_to_stageUsdHelper.add_sphere_to_stageUsdHelper.add_mesh_to_stageUsdHelper.get_obstacle_from_primUsdHelper.write_stage_to_fileUsdHelper.create_animationUsdHelper.create_obstacle_animationUsdHelper.create_linkpose_robot_animationUsdHelper.add_materialUsdHelper.saveUsdHelper.write_trajectory_animationUsdHelper.load_robotUsdHelper.write_trajectory_animation_with_robot_usdUsdHelper.create_grid_usdUsdHelper.load_robot_usdUsdHelper.get_robot_primsUsdHelper.update_robot_joint_stateUsdHelper.write_motion_gen_log
- curobo.util.warp module
- curobo.util.warp_interpolation module
- curobo.util.xrdf_utils module