curobo.util.state_filter module
- class 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, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
- enable: bool = True,
- teleport_mode: bool = False,
Bases:
object- filter_coeff: FilterCoeff
- 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(
- coeff_dict,
- enable=True,
- dt=0.0,
- control_space=StateType.ACCELERATION,
- 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),
- teleport_mode=False,
- class JointStateFilter(
- filter_config: FilterConfig,
Bases:
FilterConfig- filter_joint_state(
- raw_joint_state: JointState,
- integrate_jerk(
- qddd_des,
- cmd_joint_state: JointState | None = None,
- dt: float | None = None,
- integrate_acc(
- qdd_des: Tensor,
- cmd_joint_state: JointState | None = None,
- dt: float | None = None,
- integrate_vel(
- qd_des: Tensor,
- cmd_joint_state: JointState | None = None,
- dt: float | None = None,
- 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, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
- teleport_mode=False,
- integrate_pos(
- q_des: Tensor,
- cmd_joint_state: JointState | None = None,
- dt: float | None = None,
- 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)
- filter_coeff: FilterCoeff
- reset()