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,
)

Bases: TrajectoryMetrics

time: float = inf
cspace_path_length: float = 0.0
perception_success: bool = False
perception_interpolated_success: bool = False
jerk: float = inf
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,
)

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
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