curobo.util.state_filter module

class curobo.util.state_filter.FilterConfig(filter_coeff: curobo.types.state.FilterCoeff, dt: float, control_space: curobo.types.enum.StateType, tensor_args: curobo.types.base.TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32), enable: bool = True, teleport_mode: bool = False)

Bases: object

Parameters:
filter_coeff: FilterCoeff
dt: float
control_space: StateType
tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32)
enable: bool = True
teleport_mode: bool = False
static from_dict(coeff_dict, enable=True, dt=0.0, control_space=StateType.ACCELERATION, tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32), teleport_mode=False)
class curobo.util.state_filter.JointStateFilter(filter_config)

Bases: FilterConfig

Parameters:

filter_config (FilterConfig) –

filter_joint_state(raw_joint_state)
Parameters:

raw_joint_state (JointState) –

integrate_jerk(qddd_des, cmd_joint_state=None, dt=None)
Parameters:
  • cmd_joint_state (JointState | None) –

  • dt (float | None) –

integrate_acc(qdd_des, cmd_joint_state=None, dt=None)
Parameters:
  • qdd_des (Tensor) –

  • cmd_joint_state (JointState | None) –

  • dt (float | None) –

integrate_vel(qd_des, cmd_joint_state=None, dt=None)
Parameters:
  • qd_des (Tensor) –

  • cmd_joint_state (JointState | None) –

  • dt (float | None) –

integrate_pos(q_des, cmd_joint_state=None, dt=None)
Parameters:
  • q_des (Tensor) –

  • cmd_joint_state (JointState | None) –

  • dt (float | None) –

reset()