curobo.wrap.reacher package¶
Module contains commonly used high-level APIs for motion generation.
Submodules¶
- curobo.wrap.reacher.evaluator module
TrajEvaluatorConfigcompute_path_lengthcompute_path_length_costsmooth_costcompute_smoothnesscompute_smoothness_opt_dtTrajEvaluatorTrajEvaluator._compute_path_lengthTrajEvaluator._check_smoothnessTrajEvaluator.evaluateTrajEvaluator.evaluate_interpolated_smoothenessTrajEvaluator.evaluate_from_positionTrajEvaluator.cost_weightTrajEvaluator.from_basicTrajEvaluator.max_accTrajEvaluator.max_jerkTrajEvaluator.min_dtTrajEvaluator.max_dt
- curobo.wrap.reacher.ik_solver module
IKSolverConfigIKSolverConfig.robot_configIKSolverConfig.solverIKSolverConfig.num_seedsIKSolverConfig.position_thresholdIKSolverConfig.rotation_thresholdIKSolverConfig.rollout_fnIKSolverConfig.ik_nn_seederIKSolverConfig.world_coll_checkerIKSolverConfig.sample_rejection_ratioIKSolverConfig.tensor_argsIKSolverConfig.use_cuda_graphIKSolverConfig.seedIKSolverConfig.load_from_robot_config
IKResultIKResult.js_solutionIKResult.goal_poseIKResult.solutionIKResult.seedIKResult.successIKResult.position_errorIKResult.rotation_errorIKResult.errorIKResult.solve_timeIKResult.debug_infoIKResult.goalset_indexIKResult.get_unique_solutionIKResult.get_batch_unique_solutionIKResult._abc_implIKResult._is_protocolIKResult.countIKResult.index
IKSolverIKSolver._update_goal_bufferIKSolver.solve_singleIKSolver.solve_goalsetIKSolver.solve_batchIKSolver.solve_batch_goalsetIKSolver.solve_batch_envIKSolver.solve_batch_env_goalsetIKSolver._solve_from_solve_stateIKSolver._get_resultIKSolver.get_seedIKSolver.solve_anyIKSolver.solveIKSolver.batch_env_solveIKSolver._get_successIKSolver.generate_seedIKSolver.update_worldIKSolver.reset_seedIKSolver.check_constraintsIKSolver.sample_configsIKSolver.kinematicsIKSolver.get_all_rollout_instancesIKSolver.get_all_kinematics_instancesIKSolver.fkIKSolver.reset_cuda_graphIKSolver.reset_shapeIKSolver.attach_object_to_robotIKSolver.detach_object_from_robotIKSolver.get_retract_configIKSolver.update_pose_cost_metricIKSolver.get_full_jsIKSolver.get_active_jsIKSolver.joint_namesIKSolver.check_validIKSolver.ik_nn_seederIKSolver.load_from_robot_configIKSolver.sample_rejection_ratioIKSolver.seedIKSolver.tensor_argsIKSolver.use_cuda_graphIKSolver.world_coll_checkerIKSolver.robot_configIKSolver.solverIKSolver.num_seedsIKSolver.position_thresholdIKSolver.rotation_thresholdIKSolver.rollout_fn
get_successget_result
- curobo.wrap.reacher.motion_gen module
MotionGenConfigMotionGenConfig.ik_seedsMotionGenConfig.graph_seedsMotionGenConfig.trajopt_seedsMotionGenConfig.noisy_trajopt_seedsMotionGenConfig.batch_ik_seedsMotionGenConfig.batch_trajopt_seedsMotionGenConfig.robot_cfgMotionGenConfig.ik_solverMotionGenConfig.graph_plannerMotionGenConfig.trajopt_solverMotionGenConfig.js_trajopt_solverMotionGenConfig.finetune_js_trajopt_solverMotionGenConfig.finetune_trajopt_solverMotionGenConfig.interpolation_typeMotionGenConfig.interpolation_stepsMotionGenConfig.world_coll_checkerMotionGenConfig.tensor_argsMotionGenConfig.partial_ik_itersMotionGenConfig.graph_trajopt_itersMotionGenConfig.store_debug_in_resultMotionGenConfig.interpolation_dtMotionGenConfig.finetune_dt_scaleMotionGenConfig.use_cuda_graphMotionGenConfig.optimize_dtMotionGenConfig.load_from_robot_config
MotionGenPlanConfigMotionGenPlanConfig.enable_graphMotionGenPlanConfig.enable_optMotionGenPlanConfig.use_nn_ik_seedMotionGenPlanConfig.need_graph_successMotionGenPlanConfig.max_attemptsMotionGenPlanConfig.timeoutMotionGenPlanConfig.enable_graph_attemptMotionGenPlanConfig.disable_graph_attemptMotionGenPlanConfig.ik_fail_returnMotionGenPlanConfig.partial_ik_optMotionGenPlanConfig.num_ik_seedsMotionGenPlanConfig.num_graph_seedsMotionGenPlanConfig.num_trajopt_seedsMotionGenPlanConfig.success_ratioMotionGenPlanConfig.fail_on_invalid_queryMotionGenPlanConfig.use_start_state_as_retractMotionGenPlanConfig.pose_cost_metricMotionGenPlanConfig.enable_finetune_trajoptMotionGenPlanConfig.parallel_finetuneMotionGenPlanConfig.finetune_dt_scaleMotionGenPlanConfig.finetune_attemptsMotionGenPlanConfig.finetune_dt_decayMotionGenPlanConfig.time_dilation_factorMotionGenPlanConfig.check_start_validityMotionGenPlanConfig.finetune_js_dt_scaleMotionGenPlanConfig.clone
MotionGenStatusMotionGenStatus.IK_FAILMotionGenStatus.GRAPH_FAILMotionGenStatus.TRAJOPT_FAILMotionGenStatus.FINETUNE_TRAJOPT_FAILMotionGenStatus.DT_EXCEPTIONMotionGenStatus.INVALID_QUERYMotionGenStatus.INVALID_START_STATE_UNKNOWN_ISSUEMotionGenStatus.INVALID_START_STATE_WORLD_COLLISIONMotionGenStatus.INVALID_START_STATE_SELF_COLLISIONMotionGenStatus.INVALID_START_STATE_JOINT_LIMITSMotionGenStatus.INVALID_PARTIAL_POSE_COST_METRICMotionGenStatus.SUCCESSMotionGenStatus.NOT_ATTEMPTED
MotionGenResultMotionGenResult.successMotionGenResult.valid_queryMotionGenResult.optimized_planMotionGenResult.optimized_dtMotionGenResult.position_errorMotionGenResult.rotation_errorMotionGenResult.cspace_errorMotionGenResult.solve_timeMotionGenResult.ik_timeMotionGenResult.graph_timeMotionGenResult.trajopt_timeMotionGenResult.finetune_timeMotionGenResult.total_timeMotionGenResult.interpolated_planMotionGenResult.interpolation_dtMotionGenResult.path_buffer_last_tstepMotionGenResult.debug_infoMotionGenResult.statusMotionGenResult.attemptsMotionGenResult.trajopt_attemptsMotionGenResult.used_graphMotionGenResult.graph_planMotionGenResult.goalset_indexMotionGenResult.cloneMotionGenResult.copy_idxMotionGenResult.get_pathsMotionGenResult.get_successful_pathsMotionGenResult.get_interpolated_planMotionGenResult.retime_trajectoryMotionGenResult.motion_timeMotionGenResult._check_none_and_copy_idx
GraspPlanResultGraspPlanResult.successGraspPlanResult.grasp_trajectoryGraspPlanResult.grasp_trajectory_dtGraspPlanResult.grasp_interpolated_trajectoryGraspPlanResult.grasp_interpolation_dtGraspPlanResult.retract_trajectoryGraspPlanResult.retract_trajectory_dtGraspPlanResult.retract_interpolated_trajectoryGraspPlanResult.retract_interpolation_dtGraspPlanResult.approach_resultGraspPlanResult.grasp_resultGraspPlanResult.retract_resultGraspPlanResult.statusGraspPlanResult.goalset_resultGraspPlanResult.planning_timeGraspPlanResult.goalset_index
MotionGenMotionGen.update_batch_sizeMotionGen.solve_ikMotionGen.graph_searchMotionGen.plan_singleMotionGen.plan_goalsetMotionGen.plan_batchMotionGen.plan_batch_goalsetMotionGen.plan_batch_envMotionGen.plan_batch_env_goalsetMotionGen.compute_kinematicsMotionGen.kinematicsMotionGen.dofMotionGen.collision_cacheMotionGen.check_constraintsMotionGen.update_worldMotionGen.clear_world_cacheMotionGen.resetMotionGen.reset_seedMotionGen.get_retract_configMotionGen.warmupMotionGen.plan_single_jsMotionGen.solve_trajoptMotionGen.get_active_jsMotionGen.update_pose_cost_metricMotionGen.get_all_rollout_instancesMotionGen.get_all_solver_rollout_instancesMotionGen.get_all_pose_solver_rollout_instancesMotionGen.get_all_pose_rollout_instancesMotionGen.get_all_kinematics_instancesMotionGen.attach_objects_to_robotMotionGen.attach_external_objects_to_robotMotionGen.add_camera_frameMotionGen.process_camera_framesMotionGen.attach_bounding_box_from_blox_to_robotMotionGen.attach_new_object_to_robotMotionGen.detach_object_from_robotMotionGen.attach_spheres_to_robotMotionGen.detach_spheres_from_robotMotionGen.get_full_jsMotionGen.world_modelMotionGen.world_collisionMotionGen.project_pose_to_goal_frameMotionGen.joint_namesMotionGen.update_interpolation_typeMotionGen.update_locked_jointsMotionGen.check_start_stateMotionGen._solve_ik_from_solve_stateMotionGen._solve_trajopt_from_solve_stateMotionGen._get_solve_stateMotionGen._plan_attemptsMotionGen._plan_batch_attemptsMotionGen._plan_from_solve_stateMotionGen._plan_js_from_solve_stateMotionGen._plan_from_solve_state_batchMotionGen.planMotionGen.batch_planMotionGen.toggle_link_collisionMotionGen.plan_graspMotionGen.finetune_dt_scaleMotionGen.graph_trajopt_itersMotionGen.interpolation_dtMotionGen.load_from_robot_configMotionGen.optimize_dtMotionGen.store_debug_in_resultMotionGen.use_cuda_graphMotionGen.ik_seedsMotionGen.graph_seedsMotionGen.trajopt_seedsMotionGen.noisy_trajopt_seedsMotionGen.batch_ik_seedsMotionGen.batch_trajopt_seedsMotionGen.robot_cfgMotionGen.ik_solverMotionGen.graph_plannerMotionGen.trajopt_solverMotionGen.js_trajopt_solverMotionGen.finetune_js_trajopt_solverMotionGen.finetune_trajopt_solverMotionGen.interpolation_typeMotionGen.interpolation_stepsMotionGen.world_coll_checkerMotionGen.tensor_argsMotionGen.partial_ik_iters
- curobo.wrap.reacher.mpc module
MpcSolverConfigMpcSolverMpcSolver.tensor_argsMpcSolver.setup_solve_singleMpcSolver.setup_solve_goalsetMpcSolver.setup_solve_batchMpcSolver.setup_solve_batch_goalsetMpcSolver.setup_solve_batch_envMpcSolver.setup_solve_batch_env_goalsetMpcSolver.stepMpcSolver.update_goalMpcSolver.resetMpcSolver.reset_cuda_graphMpcSolver.enable_cspace_costMpcSolver.enable_pose_costMpcSolver.get_active_jsMpcSolver.update_worldMpcSolver.get_visual_rolloutsMpcSolver.update_pose_cost_metricMpcSolver.compute_kinematicsMpcSolver.joint_namesMpcSolver.collision_cacheMpcSolver.kinematicsMpcSolver.world_collisionMpcSolver.project_pose_to_goal_frameMpcSolver._step_onceMpcSolver._update_solve_state_and_goal_bufferMpcSolver._update_batch_sizeMpcSolver._solve_from_solve_stateMpcSolver._mpc_stepMpcSolver._initialize_cuda_graph_stepMpcSolver.load_from_robot_configMpcSolver.use_cuda_graph_full_stepMpcSolver.world_coll_checkerMpcSolver.solverMpcSolver.rollout_fn
- curobo.wrap.reacher.trajopt module
TrajOptSolverConfigTrajOptSolverConfig.robot_configTrajOptSolverConfig.solverTrajOptSolverConfig.rollout_fnTrajOptSolverConfig.position_thresholdTrajOptSolverConfig.rotation_thresholdTrajOptSolverConfig.traj_tstepsTrajOptSolverConfig.use_cspace_seedTrajOptSolverConfig.interpolation_typeTrajOptSolverConfig.interpolation_stepsTrajOptSolverConfig.world_coll_checkerTrajOptSolverConfig.seed_ratioTrajOptSolverConfig.num_seedsTrajOptSolverConfig.bias_nodeTrajOptSolverConfig.interpolation_dtTrajOptSolverConfig.traj_evaluator_configTrajOptSolverConfig.traj_evaluatorTrajOptSolverConfig.evaluate_interpolated_trajectoryTrajOptSolverConfig.cspace_thresholdTrajOptSolverConfig.tensor_argsTrajOptSolverConfig.sync_cuda_timeTrajOptSolverConfig.interpolate_rolloutTrajOptSolverConfig.use_cuda_graph_metricsTrajOptSolverConfig.trim_stepsTrajOptSolverConfig.store_debug_in_resultTrajOptSolverConfig.optimize_dtTrajOptSolverConfig.use_cuda_graphTrajOptSolverConfig.load_from_robot_config
TrajOptResultTrajOptResult.successTrajOptResult.goalTrajOptResult.solutionTrajOptResult.seedTrajOptResult.solve_timeTrajOptResult.debug_infoTrajOptResult.metricsTrajOptResult.interpolated_solutionTrajOptResult.path_buffer_last_tstepTrajOptResult.position_errorTrajOptResult.rotation_errorTrajOptResult.cspace_errorTrajOptResult.smooth_errorTrajOptResult.smooth_labelTrajOptResult.optimized_dtTrajOptResult.raw_solutionTrajOptResult.raw_actionTrajOptResult.goalset_indexTrajOptResult.optimized_seedsTrajOptResult._abc_implTrajOptResult._is_protocolTrajOptResult.countTrajOptResult.index
TrajResultTrajResult._abc_implTrajResult._is_protocolTrajResult.countTrajResult.cspace_errorTrajResult.debug_infoTrajResult.goalset_indexTrajResult.indexTrajResult.interpolated_solutionTrajResult.metricsTrajResult.optimized_dtTrajResult.optimized_seedsTrajResult.path_buffer_last_tstepTrajResult.position_errorTrajResult.raw_actionTrajResult.raw_solutionTrajResult.rotation_errorTrajResult.smooth_errorTrajResult.smooth_labelTrajResult.successTrajResult.goalTrajResult.solutionTrajResult.seedTrajResult.solve_time
TrajOptSolverTrajOptSolver.traj_evaluatorTrajOptSolver.get_all_rollout_instancesTrajOptSolver.get_all_kinematics_instancesTrajOptSolver.attach_spheres_to_robotTrajOptSolver.detach_spheres_from_robotTrajOptSolver._update_solve_state_and_goal_bufferTrajOptSolver.solve_anyTrajOptSolver._solve_from_solve_stateTrajOptSolver.solve_singleTrajOptSolver.solve_goalsetTrajOptSolver.solve_batchTrajOptSolver.solve_batch_goalsetTrajOptSolver.solve_batch_envTrajOptSolver.solve_batch_env_goalsetTrajOptSolver.solveTrajOptSolver._get_resultTrajOptSolver.batch_solveTrajOptSolver.get_linear_seedTrajOptSolver.get_start_seedTrajOptSolver._get_seed_numbersTrajOptSolver.get_seed_setTrajOptSolver.get_seedsTrajOptSolver.get_bias_seedTrajOptSolver.get_interpolated_trajectoryTrajOptSolver.calculate_trajectory_dtTrajOptSolver.reset_seedTrajOptSolver.reset_cuda_graphTrajOptSolver.reset_shapeTrajOptSolver.kinematicsTrajOptSolver.retract_configTrajOptSolver.fkTrajOptSolver.solver_dtTrajOptSolver.solver_dt_tensorTrajOptSolver.minimum_trajectory_dtTrajOptSolver.update_solver_dtTrajOptSolver.get_full_jsTrajOptSolver.get_active_jsTrajOptSolver.update_pose_cost_metricTrajOptSolver.newton_itersTrajOptSolver.dofTrajOptSolver.action_horizonTrajOptSolver.bias_nodeTrajOptSolver.cspace_thresholdTrajOptSolver.evaluate_interpolated_trajectoryTrajOptSolver.interpolate_rolloutTrajOptSolver.interpolation_dtTrajOptSolver.interpolation_stepsTrajOptSolver.interpolation_typeTrajOptSolver.load_from_robot_configTrajOptSolver.num_seedsTrajOptSolver.optimize_dtTrajOptSolver.seed_ratioTrajOptSolver.store_debug_in_resultTrajOptSolver.sync_cuda_timeTrajOptSolver.tensor_argsTrajOptSolver.traj_evaluator_configTrajOptSolver.trim_stepsTrajOptSolver.use_cspace_seedTrajOptSolver.use_cuda_graphTrajOptSolver.use_cuda_graph_metricsTrajOptSolver.world_coll_checkerTrajOptSolver.robot_configTrajOptSolver.solverTrajOptSolver.rollout_fnTrajOptSolver.position_thresholdTrajOptSolver.rotation_thresholdTrajOptSolver.traj_tsteps
jit_feasible_successjit_trajopt_best_select
- curobo.wrap.reacher.types module
ReacherSolveTypeReacherSolveStateReacherSolveState.solve_typeReacherSolveState.batch_sizeReacherSolveState.n_envsReacherSolveState.n_goalsetReacherSolveState.batch_envReacherSolveState.batch_retractReacherSolveState.batch_modeReacherSolveState.num_seedsReacherSolveState.num_ik_seedsReacherSolveState.num_graph_seedsReacherSolveState.num_trajopt_seedsReacherSolveState.num_mpc_seedsReacherSolveState.cloneReacherSolveState.get_batch_sizeReacherSolveState.get_ik_batch_sizeReacherSolveState.create_goal_bufferReacherSolveState.update_goal_bufferReacherSolveState.update_goal
MotionGenSolverStateget_padded_goalset