curobo.util.trajectory module
- class InterpolateType(value)
Bases:
EnumAn enumeration.
- LINEAR = 'linear'
linear interpolation using scipy
- CUBIC = 'cubic'
cubic interpolation using scipy
- QUINTIC = 'quintic'
quintic interpolation using scipy
- LINEAR_CUDA = 'linear_cuda'
cuda accelerated linear interpolation using warp-lang custom kernel :meth: get_cuda_linear_interpolation
- KUNZ_STILMAN_OPTIMAL = 'kunz_stilman_optimal'
Uses “Time-optimal trajectory generation for path following with bounded acceleration and velocity.” Robotics: Science and Systems VIII (2012): 1-8, Kunz & Stillman.
- get_linear_traj(
- positions,
- dt=0.5,
- duration=20,
- tensor_args={'device': 'cpu', 'dtype': torch.float32},
- max_traj_pts=None,
- compute_dynamics=True,
- get_smooth_trajectory(
- raw_traj,
- degree=5,
- get_spline_interpolated_trajectory(
- raw_traj,
- des_horizon,
- degree=5,
- get_batch_interpolated_trajectory(
- raw_traj: JointState,
- raw_dt: Tensor,
- interpolation_dt: float,
- max_vel: Tensor | None = None,
- max_acc: Tensor | None = None,
- max_jerk: Tensor | None = None,
- kind: InterpolateType = InterpolateType.LINEAR_CUDA,
- out_traj_state: JointState | 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),
- max_deviation: float = 0.1,
- min_dt: float = 0.02,
- max_dt: float = 0.15,
- optimize_dt: bool = True,
- get_cpu_linear_interpolation(
- raw_traj,
- traj_steps,
- out_traj_state,
- kind: InterpolateType,
- opt_dt=None,
- interpolation_dt=None,
- get_cpu_kunz_stilman_interpolation(
- raw_traj: JointState,
- traj_steps: int,
- out_traj_state: JointState,
- max_velocity: Tensor,
- max_acceleration: Tensor,
- opt_dt: float,
- interpolation_dt: float,
- max_deviation: float = 0.1,
- get_interpolated_trajectory(
- trajectory: List[Tensor],
- out_traj_state: JointState,
- des_horizon: int | None = None,
- interpolation_dt: float = 0.02,
- max_velocity: Tensor | None = None,
- max_acceleration: Tensor | None = None,
- max_jerk: Tensor | None = None,
- kind=InterpolateType.CUBIC,
- max_deviation: float = 0.05,
- 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),
- linear_smooth(
- x: array,
- y=None,
- n=10,
- kind=InterpolateType.CUBIC,
- last_step=None,
- opt_dt=None,
- interpolation_dt=None,