curobo.wrap.reacher.evaluator module

class curobo.wrap.reacher.evaluator.TrajEvaluatorConfig(max_acc: float = 15.0, max_jerk: float = 500.0, cost_weight: float = 0.01, min_dt: float = 0.001, max_dt: float = 0.1)

Bases: object

Parameters:
  • max_acc (float) –

  • max_jerk (float) –

  • cost_weight (float) –

  • min_dt (float) –

  • max_dt (float) –

max_acc: float = 15.0
max_jerk: float = 500.0
cost_weight: float = 0.01
min_dt: float = 0.001
max_dt: float = 0.1
class curobo.wrap.reacher.evaluator.TrajEvaluator(config=None)

Bases: TrajEvaluatorConfig

Parameters:

config (TrajEvaluatorConfig | None) –

_compute_path_length(js, traj_dt, cspace_distance_weight)
Parameters:
  • js (JointState) –

  • traj_dt (Tensor) –

  • cspace_distance_weight (Tensor) –

_check_smoothness(js, traj_dt, max_vel)
Parameters:
  • js (JointState) –

  • traj_dt (Tensor) –

  • max_vel (Tensor) –

evaluate(js, traj_dt, cspace_distance_weight, max_vel)
Parameters:
  • js (JointState) –

  • traj_dt (Tensor) –

  • cspace_distance_weight (Tensor) –

  • max_vel (Tensor) –

evaluate_interpolated_smootheness(js, opt_dt, cspace_distance_weight, max_vel)
Parameters:
  • js (JointState) –

  • opt_dt (Tensor) –

  • cspace_distance_weight (Tensor) –

  • max_vel (Tensor) –

evaluate_from_position(js, traj_dt, cspace_distance_weight, max_vel, skip_last_tstep=False)
Parameters:
  • js (JointState) –

  • traj_dt (Tensor) –

  • cspace_distance_weight (Tensor) –

  • max_vel (Tensor) –

  • skip_last_tstep (bool) –

calculate_dt(js, max_vel, raw_dt)
Parameters:
  • js (JointState) –

  • max_vel (Tensor) –

  • raw_dt (float) –