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
dt: float
control_space: StateType
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)
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, 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,
)
enable: bool = True
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,
)
teleport_mode: bool = False
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
dt: float
control_space: StateType
reset()