curobo.util.metrics module¶

class CuroboMetrics( skip: bool = True, success: bool = False, collision: bool = True, joint_limit_violation: bool = True, self_collision: bool = True, physical_violation: bool = True, position_error: float = inf, orientation_error: float = inf, eef_position_path_length: float = inf, eef_orientation_path_length: float = inf, trajectory_length: int = 1, attempts: int = 1, motion_time: float = inf, solve_time: float = inf, time: float = inf, cspace_path_length: float = 0.0, perception_success: bool = False, perception_interpolated_success: bool = False, jerk: float = inf, perception_time: float = 0.0, )¶

Bases: TrajectoryMetrics

time: float = inf¶

cspace_path_length: float = 0.0¶

perception_success: bool = False¶

perception_interpolated_success: bool = False¶

jerk: float = inf¶

perception_time: float = 0.0¶

attempts: int = 1¶

collision: bool = True¶

eef_orientation_path_length: float = inf¶

eef_position_path_length: float = inf¶

joint_limit_violation: bool = True¶

motion_time: float = inf¶

orientation_error: float = inf¶

physical_violation: bool = True¶

position_error: float = inf¶

self_collision: bool = True¶

skip: bool = True¶

solve_time: float = inf¶

success: bool = False¶

trajectory_length: int = 1¶

class CuroboGroupMetrics( group_size: int, success: float, skips: int, env_collision_rate: float, self_collision_rate: float, joint_violation_rate: float, physical_violation_rate: float, within_one_cm_rate: float, within_five_cm_rate: float, within_fifteen_deg_rate: float, within_thirty_deg_rate: float, eef_position_path_length: robometrics.statistics.Statistic, eef_orientation_path_length: robometrics.statistics.Statistic, attempts: robometrics.statistics.Statistic, position_error: robometrics.statistics.Statistic, orientation_error: robometrics.statistics.Statistic, motion_time: robometrics.statistics.Statistic, solve_time: robometrics.statistics.Statistic, solve_time_per_step: robometrics.statistics.Statistic, time: float = inf, cspace_path_length: robometrics.statistics.Statistic | None = None, perception_success: float = 0.0, perception_interpolated_success: float = 0.0, jerk: float = inf, perception_time: float = inf, )¶

Bases: TrajectoryGroupMetrics

time: float = inf¶

cspace_path_length: Statistic | None = None¶

perception_success: float = 0.0¶

perception_interpolated_success: float = 0.0¶

jerk: float = inf¶

perception_time: float = inf¶

classmethod from_list( group: List[CuroboMetrics], )¶

print_summary()¶

group_size: int¶

success: float¶

skips: int¶

env_collision_rate: float¶

self_collision_rate: float¶

joint_violation_rate: float¶

physical_violation_rate: float¶

within_one_cm_rate: float¶

within_five_cm_rate: float¶

within_fifteen_deg_rate: float¶

within_thirty_deg_rate: float¶

eef_position_path_length: Statistic¶

eef_orientation_path_length: Statistic¶

attempts: Statistic¶

position_error: Statistic¶

orientation_error: Statistic¶

motion_time: Statistic¶

solve_time: Statistic¶

solve_time_per_step: Statistic¶