Index _ | A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | Q | R | S | T | U | V | W | X | Z _ __init__() (BatchMotionPlanner method) (CameraObservation method) (Capsule method) (ContentPath method) (CRadioInference method) (Cuboid method) (CudaEventTimer method) (Cylinder method) (DetectorCfg method) (DeviceCfg method) (EvolutionStrategies method) (EvolutionStrategiesCfg method) (FilterDepth method) (GoalToolPose method), [1] (GraspPlanResult method) (JointState method) (Kinematics method) (KinematicsCfg method) (KinematicsState method) (LBFGSOpt method) (LBFGSOptCfg method) (Mapper method) (MapperCfg method) (MatchedVoxels method) (Mesh method) (MotionPlanner method) (MotionPlannerCfg method), [1] (MotionRetargeter method) (MotionRetargeterCfg method) (MPPI method) (MPPICfg method) (MultiStageOptimizer method) (Obstacle method) (OccupiedVoxels method) (Pose method) (PoseDetector method) (RetargetResult method) (RobotBuilder method) (RobotDebugger method) (RobotMesh method) (RobotSegmenter method) (RobotState method) (RosenbrockCfg method) (RosenbrockRollout method) (SceneData method) (ScipyOpt method) (ScipyOptCfg method) (SDFDetectorCfg method) (SDFPoseDetector method) (SequenceGoalToolPose method) (Sphere method) (SphereFitMetrics method) (SphereFitResult method) (Sun3dDataset method) (ToolPose method) (ToolPoseCriteria method) (TorchOpt method) (TorchOptCfg method) (UrdfRobotParser method) (VoxelGrid method) A a (RosenbrockCfg attribute) acceleration (JointState attribute) acceleration_regularization_weight (MotionRetargeterCfg attribute) accumulator_w_max (MapperCfg attribute) action_bound_highs (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (RosenbrockRollout property) (ScipyOpt property) (TorchOpt property) action_bound_lows (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (RosenbrockRollout property) (ScipyOpt property) (TorchOpt property) action_bounds (RosenbrockRollout property) action_dim (BatchMotionPlanner property) (EvolutionStrategies property) (LBFGSOpt property) (MotionPlanner property) (MotionRetargeter property) (MPPI property) (MultiStageOptimizer property) (RosenbrockRollout property) (ScipyOpt property) (TorchOpt property) action_horizon (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (MultiStageOptimizer property) (RosenbrockRollout property) (ScipyOpt property) (TorchOpt property) action_horizon_bounds_highs (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (ScipyOpt property) action_horizon_bounds_lows (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (ScipyOpt property) action_horizon_step_max (LBFGSOpt property) action_step_max (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) add_absolute_path_to_link_meshes() (UrdfRobotParser method) add_collision_ignore() (RobotBuilder method) add_obstacle() (SceneData method) all_articulated_joint_names (Kinematics property) alpha (MPPICfg attribute) angular_distance() (Pose method) append_joints() (JointState method) apply_kernel() (JointState method) (Pose method) approach_interpolated_last_tstep (GraspPlanResult attribute) approach_interpolated_trajectory (GraspPlanResult attribute) approach_success (GraspPlanResult attribute) approach_trajectory (GraspPlanResult attribute) approach_trajectory_dt (GraspPlanResult attribute) as_goal() (ToolPose method) as_torch_dict() (DeviceCfg method) attachment_manager (BatchMotionPlanner property) (MotionPlanner property) aux_data (JointState attribute) B b (RosenbrockCfg attribute) base (Capsule attribute) base_action (MPPICfg attribute) base_link (Kinematics property) (RobotSegmenter property) batch (Pose property) batch_size (BatchMotionPlanner property) (GoalToolPose property), [1] (Pose attribute) (RosenbrockRollout property) (ToolPose property) batch_transform_points() (Pose method) batch_transform_points_inverse() (Pose method) batched_ik_example() (in module curobo.examples.getting_started.inverse_kinematics) BatchMotionPlanner (class in curobo.batch_motion_planner) best_traj (EvolutionStrategies property) (MPPI property) beta (MPPICfg attribute) blend() (JointState method) block_data (OccupiedVoxels attribute), [1] block_idx_per_voxel (OccupiedVoxels attribute), [1] block_pool_idx (MatchedVoxels attribute), [1] block_scores (MatchedVoxels attribute), [1] block_size (MapperCfg attribute), [1] build() (RobotBuilder method) build_link_parent() (UrdfRobotParser method) build_new_robot() (in module curobo.examples.getting_started.build_robot_model) C cache_dir (in module curobo._src.runtime) calculate_fd_from_position() (JointState method) CameraObservation (class in curobo.types) Capsule (class in curobo.scene) cat() (JointState method) (Pose static method) centers (OccupiedVoxels attribute), [1] (SphereFitResult attribute) check_collision_at_config() (RobotDebugger method) check_default_joint_configuration_collision() (RobotDebugger method) check_obstacle_exists() (SceneData method) clear() (SceneData method) clear_blocks() (Mapper method) clear_region() (Mapper method) clear_scene_cache() (BatchMotionPlanner method) (MotionPlanner method) clone() (CameraObservation method) (GoalToolPose method), [1] (JointState method) (KinematicsState method) (Pose method) (RobotState method) (SequenceGoalToolPose method) (ToolPose method) (ToolPoseCriteria method) (VoxelGrid method) collision_activation_distance (MotionRetargeterCfg attribute) collision_distance_dtype (DeviceCfg attribute) collision_free_ik_example() (in module curobo.examples.getting_started.inverse_kinematics) collision_geometry_dtype (DeviceCfg attribute) collision_gradient_dtype (DeviceCfg attribute) collision_link_names (RobotBuilder property) collision_matrix (RobotBuilder property) collision_spheres (RobotBuilder property) color (Obstacle attribute) colors_uint8() (OccupiedVoxels method) compute_collision_matrix() (RobotBuilder method) compute_esdf() (Mapper method) compute_kinematics() (BatchMotionPlanner method) (Kinematics method) (MotionPlanner method) compute_local_pose() (Pose method) compute_metrics() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) compute_metrics_from_action() (RosenbrockRollout method) compute_metrics_from_state() (RosenbrockRollout method) compute_offset_pose() (Pose method) compute_pose_error() (in module curobo.examples.reference.robot_pose_calibration) config (EvolutionStrategies property) (LBFGSOpt property) (MotionRetargeter property) (MPPI property) ContentPath (class in curobo.types) contiguous() (Pose method) (ToolPose method) control_space (JointState attribute) converged_ratio (LBFGSOptCfg attribute) convergence_iteration (LBFGSOptCfg attribute) convergence_threshold (SDFDetectorCfg attribute) copy_() (CameraObservation method) (GoalToolPose method), [1] (JointState method) (KinematicsState method) (Pose method) (RobotState method) (ToolPose method) (ToolPoseCriteria method) copy_at_batch_seed_indices() (JointState method) (RobotState method) copy_at_index() (JointState method) copy_data() (JointState method) copy_file_to_path() (in module curobo.config_io) copy_only_index() (JointState method) (RobotState method) copy_reference() (JointState method) cost_convergence (LBFGSOptCfg attribute) cost_delta_threshold (LBFGSOptCfg attribute) cost_relative_threshold (LBFGSOptCfg attribute) cov_action (EvolutionStrategies property) (MPPI property) cov_type (MPPICfg attribute) coverage (SphereFitMetrics attribute) cpu() (DeviceCfg method) CRadioInference (class in curobo.examples.getting_started.feature_mapping) create() (MotionPlannerCfg static method), [1] (MotionRetargeterCfg static method) (RosenbrockCfg class method) create_cache() (SceneData class method) create_data_dict() (LBFGSOptCfg class method) (MPPICfg class method) (ScipyOptCfg class method) (TorchOptCfg class method) create_scene_with_static_obstacles() (in module curobo.examples.getting_started.volumetric_mapping) create_simulated_observation() (in module curobo.examples.reference.robot_pose_calibration) create_xyzr_tensor() (VoxelGrid method) cspace (KinematicsCfg property) Cuboid (class in curobo.scene) cuboids (SceneData attribute) cuda_core_backend (in module curobo._src.runtime) cuda_event_timers (in module curobo._src.runtime) cuda_graph_reset (in module curobo._src.runtime) cuda_graphs (in module curobo._src.runtime) cuda_robot_model_state (RobotState attribute) cuda_streams (in module curobo._src.runtime) CudaEventTimer (class in curobo.profiling) curobo module curobo._src.runtime module curobo.batch_motion_planner module curobo.collision_checking module curobo.config_io module curobo.examples module curobo.examples.getting_started module curobo.examples.getting_started.build_robot_model module, [1] curobo.examples.getting_started.feature_mapping module, [1] curobo.examples.getting_started.forward_kinematics module, [1] curobo.examples.getting_started.humanoid_retargeting module, [1] curobo.examples.getting_started.inverse_kinematics module, [1] curobo.examples.getting_started.motion_planning module, [1] curobo.examples.getting_started.reactive_control module, [1] curobo.examples.getting_started.volumetric_mapping module, [1] curobo.examples.guides module curobo.examples.guides.custom_optimization module, [1] curobo.examples.reference module curobo.examples.reference.robot_pose_calibration module curobo.examples.reference.sphere_fit_comparison module curobo.inverse_kinematics module curobo.kinematics module curobo.logging module curobo.model_predictive_control module curobo.motion_planner module curobo.motion_retargeter module curobo.optim module curobo.perception module curobo.profiling module curobo.robot_builder module curobo.robot_parser module curobo.rollout module curobo.runtime module curobo.scene module curobo.sphere_fit module curobo.tests module curobo.tests.test_curobo_version module curobo.trajectory_optimizer module curobo.types module curobo.viewer module current_joint_angles (RobotMesh property) Cylinder (class in curobo.scene) D data_ptr() (JointState method) (RobotState method) debug (in module curobo._src.runtime) debug_cuda_compile (in module curobo._src.runtime) debug_cuda_graphs (in module curobo._src.runtime) debug_dump() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) debug_info (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (SphereFitResult attribute) (TorchOptCfg attribute) debug_nan (in module curobo._src.runtime) debug_timers (in module curobo._src.runtime) debug_trajopt (in module curobo._src.runtime) decay_factor (MapperCfg attribute), [1] default_joint_position (Kinematics property) default_joint_state (BatchMotionPlanner property) (Kinematics property) (MotionPlanner property) (MotionRetargeter property) depth_image (CameraObservation attribute) depth_maximum_distance (MapperCfg attribute), [1] depth_minimum_distance (MapperCfg attribute), [1] depth_to_meter (CameraObservation attribute) destroy() (BatchMotionPlanner method) (MotionPlanner method) detach() (GoalToolPose method), [1] (JointState method) (KinematicsState method) (Pose method) (RobotState method) (ToolPose method) detect() (PoseDetector method) (SDFPoseDetector method) detect_from_points() (PoseDetector method) (SDFPoseDetector method) DetectorCfg (class in curobo.perception) device (DeviceCfg attribute) (GoalToolPose property), [1] (JointState property) (MapperCfg attribute), [1] (Pose property) (SequenceGoalToolPose property) (ToolPose property) device_cfg (DetectorCfg attribute) (EvolutionStrategies property) (JointState attribute) (KinematicsCfg attribute) (LBFGSOpt property) (LBFGSOptCfg attribute) (MotionPlannerCfg attribute), [1] (MotionRetargeterCfg attribute) (MPPI property) (MPPICfg attribute) (Obstacle attribute) (RosenbrockCfg attribute) (SceneData attribute) (ScipyOptCfg attribute) (SDFDetectorCfg attribute) (ToolPoseCriteria attribute) (TorchOptCfg attribute) DeviceCfg (class in curobo.types) differential_ik_example() (in module curobo.examples.getting_started.inverse_kinematics) dimensions (RosenbrockCfg attribute) dims (Cuboid attribute) (VoxelGrid attribute) disable() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) disable_link_collision() (BatchMotionPlanner method) (MotionPlanner method) disabled() (ToolPoseCriteria static method) distance() (Pose method) distance_threshold (SDFDetectorCfg attribute) distance_threshold_coarse (DetectorCfg attribute) distance_threshold_fine (DetectorCfg attribute) dof (Kinematics property) (KinematicsCfg property) downsample_for_gui() (in module curobo.examples.getting_started.feature_mapping) dt (JointState attribute) (RosenbrockRollout property) dtype (DeviceCfg attribute) (JointState property) E edit_existing_robot() (in module curobo.examples.getting_started.build_robot_model) edt_solver (MapperCfg attribute) enable() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) enable_link_collision() (BatchMotionPlanner method) (MotionPlanner method) enable_obstacle() (SceneData method) enable_static (MapperCfg attribute) enabled (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (MultiStageOptimizer property) (ScipyOpt property) (TorchOpt property) encode_text() (CRadioInference method) entropy (MPPI property) epsilon (LBFGSOptCfg attribute) esdf_voxel_size (MapperCfg attribute) estimate_sphere_count() (in module curobo.sphere_fit) evaluate_action() (RosenbrockRollout method) EvolutionStrategies (class in curobo.optim) EvolutionStrategiesCfg (class in curobo.optim) export_motion_to_usd() (in module curobo.examples.getting_started.humanoid_retargeting) extent_esdf_meters_xyz (MapperCfg attribute) extent_meters_xyz (MapperCfg attribute), [1] extract_depth_from_structured_pointcloud() (CameraObservation method) extract_esdf_slice() (in module curobo.examples.getting_started.volumetric_mapping) extract_matching_feature_voxels() (Mapper method) extract_mesh() (Mapper method) extract_occupied_voxels() (Mapper method) extract_patch_features() (CRadioInference method) F face_colors (Mesh attribute) faces (Mesh attribute) (RobotMesh property) feature_channels_per_thread (MapperCfg attribute) feature_dim (MapperCfg attribute) feature_dtype (VoxelGrid attribute) feature_grid (CameraObservation attribute) feature_grid_height (MapperCfg attribute) feature_grid_width (MapperCfg attribute) feature_integration_kernel (MapperCfg attribute) feature_tensor (VoxelGrid attribute) features() (OccupiedVoxels method) file_exists() (in module curobo.config_io) file_path (Mesh attribute) file_string (Mesh attribute) filter_depth() (CameraObservation method) FilterDepth (class in curobo.perception) find_never_colliding_pairs() (RobotDebugger method) fit_collision_spheres() (RobotBuilder method) fit_spheres_to_mesh() (in module curobo.sphere_fit) fit_time_s (SphereFitResult attribute) fix_terminal_action (LBFGSOptCfg attribute) fixed_iters (LBFGSOptCfg attribute) forward_kinematics_example() (in module curobo.examples.getting_started.forward_kinematics) from_basic() (DeviceCfg static method) from_basic_urdf() (KinematicsCfg static method) from_batch_list() (Pose class method) from_batch_scene_cfg() (SceneData class method) from_config() (FilterDepth class method) (KinematicsCfg static method) (RobotBuilder class method) from_config_file() (KinematicsCfg static method) from_content_path() (KinematicsCfg static method) from_data_dict() (KinematicsCfg static method) from_euler_xyz() (Pose class method) from_euler_xyz_intrinsic() (Pose class method) from_kinematics() (RobotMesh class method) from_list() (JointState static method) (Pose class method) from_matrix() (Pose static method) from_numpy() (JointState static method) (Pose class method) from_pointcloud() (Mesh static method) from_poses() (GoalToolPose class method), [1] from_position() (JointState static method) from_robot_file() (RobotSegmenter static method) from_robot_yaml_file() (KinematicsCfg static method) from_scene_cfg() (SceneData class method) from_state_tensor() (JointState static method) from_trimesh() (RobotMesh class method) from_xrdf() (RobotDebugger class method) frustum_decay_factor (MapperCfg attribute), [1] full_inv_cov (EvolutionStrategies property) (MPPI property) full_scale_tril (EvolutionStrategies property) (MPPI property) G gamma (MPPICfg attribute) gamma_seq (EvolutionStrategies property) (MPPI property) gather_by_seed_index() (JointState method) generate_noise() (EvolutionStrategies method) (MPPI method) generator_config (KinematicsCfg attribute) get_active_js() (Kinematics method) get_active_types() (SceneData method) get_actual_extent() (MapperCfg method) get_affine_matrix() (Pose method) get_all_cost_components() (RosenbrockRollout method) get_all_link_transforms() (Kinematics method) get_all_rollout_instances() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) get_augmented_joint_state() (JointState method) get_bounding_spheres() (Obstacle method) get_cuboid() (Obstacle method) (Sphere method) get_dof() (Kinematics method) (RobotMesh method) get_filename() (in module curobo.config_io) get_files_from_dir() (in module curobo.config_io) get_frame() (SequenceGoalToolPose method) get_full_js() (Kinematics method) get_grid_bounds() (MapperCfg method) get_grid_shape() (VoxelGrid method) get_index() (Pose method) get_initial_action() (RosenbrockRollout method) get_joint_limits() (Kinematics method) (KinematicsCfg method) get_joint_names_from_urdf() (UrdfRobotParser method) get_link_geometry() (UrdfRobotParser method) get_link_mesh() (Kinematics method) (UrdfRobotParser method) get_link_names_from_urdf() (UrdfRobotParser method) get_link_parameters() (UrdfRobotParser method) get_link_pose() (GoalToolPose method), [1] (RobotState method) (ToolPose method) get_link_poses() (Kinematics method) get_link_spheres() (KinematicsState method) get_link_transform() (Kinematics method) get_matching_feature_voxels() (Mapper method) get_matrix() (Pose method) get_mesh() (Obstacle method) get_mesh_data() (Mesh method) get_mimic_js() (Kinematics method) get_numpy_affine_matrix() (Pose method) get_numpy_matrix() (Pose method) get_obstacle_names() (SceneData method) get_occupied_voxels() (VoxelGrid method) get_path_of_dir() (in module curobo.config_io) get_pointcloud() (CameraObservation method) get_pointcloud_from_depth() (RobotSegmenter method) get_pose_vector() (Pose method) get_recorded_trace() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) get_robot_as_mesh() (Kinematics method) get_robot_as_spheres() (Kinematics method) get_robot_configuration_path() (ContentPath method) get_robot_link_meshes() (Kinematics method) get_robot_mask() (RobotSegmenter method) get_robot_mask_from_active_js() (RobotSegmenter method) get_rollouts() (EvolutionStrategies method) (MPPI method) get_rotation() (Pose method) get_rotation_matrix() (Pose method) get_self_collision_config() (Kinematics method) get_sphere() (Obstacle method) get_state_tensor() (JointState method) get_stats() (Mapper method) get_trajectory_at_horizon_index() (JointState method) get_transform_matrix() (Obstacle method) get_trimesh() (RobotMesh method) get_trimesh_mesh() (Capsule method) (Cuboid method) (Cylinder method) (Mesh method) (Obstacle method) (Sphere method) get_urdf_string() (UrdfRobotParser method) get_valid_data() (SceneData method) global_ik_num_iters (MotionRetargeterCfg attribute) goalset_index (GraspPlanResult attribute) GoalToolPose (class in curobo.motion_retargeter) (class in curobo.types) graph_planner_config (MotionPlannerCfg attribute), [1] grasp_interpolated_last_tstep (GraspPlanResult attribute) grasp_interpolated_trajectory (GraspPlanResult attribute) grasp_planning_example() (in module curobo.examples.getting_started.motion_planning) grasp_success (GraspPlanResult attribute) grasp_trajectory (GraspPlanResult attribute) grasp_trajectory_dt (GraspPlanResult attribute) GraspPlanResult (class in curobo.motion_planner) grid_center (MapperCfg attribute), [1] grid_shape (MapperCfg property) H has_cuboids() (SceneData method) has_meshes() (SceneData method) has_voxels() (SceneData method) hash_capacity (MapperCfg property) hash_load_factor (MapperCfg attribute), [1] height (Cylinder attribute) history (LBFGSOptCfg attribute) (SphereFitResult attribute) horizon (EvolutionStrategies property) (GoalToolPose property), [1] (LBFGSOpt property) (MPPI property) (RosenbrockRollout property) (ScipyOpt property) (ToolPose property) (TorchOpt property) huber_delta (DetectorCfg attribute) (SDFDetectorCfg attribute) I ik_optimizer_configs (MotionRetargeterCfg attribute) ik_solver_config (MotionPlannerCfg attribute), [1] image_height (MapperCfg attribute) image_segmentation (CameraObservation attribute) image_width (MapperCfg attribute) index_dof() (JointState method) init_cov (MPPICfg attribute) init_mean (MPPICfg attribute) initial_step_scale (LBFGSOptCfg attribute) initialize_samples() (EvolutionStrategies method) (MPPI method) inner_iterations (SDFDetectorCfg attribute) inner_iters (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) integrate() (Mapper method) integrator (Mapper property) interactive_ik_example() (in module curobo.examples.getting_started.inverse_kinematics) interactive_motion_planning() (in module curobo.examples.getting_started.motion_planning) interactive_mpc_example() (in module curobo.examples.getting_started.reactive_control) intrinsics (CameraObservation attribute) inv_cov_action (EvolutionStrategies property) (MPPI property) inverse() (Pose method) InverseKinematics (in module curobo.inverse_kinematics) InverseKinematicsCfg (in module curobo.inverse_kinematics) InverseKinematicsResult (in module curobo.inverse_kinematics) is_articulated (RobotMesh property) is_file_xrdf() (in module curobo.config_io) is_same_torch_device() (DeviceCfg method) J jerk (JointState attribute) join_path() (in module curobo.config_io) joint_names (BatchMotionPlanner property) (JointState attribute) (Kinematics property) (MotionPlanner property) (MotionRetargeter property) joint_state (RetargetResult attribute) (RobotState attribute) joint_torque (RobotState attribute) JointState (class in curobo.types) K kappa (MPPICfg attribute) kernel_backend (in module curobo._src.runtime) kinematics (BatchMotionPlanner property) Kinematics (class in curobo.kinematics) kinematics (MotionPlanner property) (MotionRetargeter property) (RobotSegmenter property) kinematics_config (Kinematics property) (KinematicsCfg attribute) kinematics_parser (KinematicsCfg attribute) KinematicsCfg (class in curobo.kinematics) KinematicsState (class in curobo.kinematics) knot (JointState attribute) knot_dt (JointState attribute) L lambda_factor (SDFDetectorCfg attribute) lambda_initial (SDFDetectorCfg attribute) lambda_max (SDFDetectorCfg attribute) lambda_min (SDFDetectorCfg attribute) LBFGSOpt (class in curobo.optim) LBFGSOptCfg (class in curobo.optim) learning_rate (EvolutionStrategiesCfg attribute) lift_interpolated_last_tstep (GraspPlanResult attribute) lift_interpolated_trajectory (GraspPlanResult attribute) lift_success (GraspPlanResult attribute) lift_trajectory (GraspPlanResult attribute) lift_trajectory_dt (GraspPlanResult attribute) line_search_scale (LBFGSOptCfg attribute) line_search_type (LBFGSOptCfg attribute) line_search_wolfe_c_1 (LBFGSOptCfg attribute) line_search_wolfe_c_2 (LBFGSOptCfg attribute) linear_distance() (Pose method) linear_motion() (ToolPoseCriteria static method) link_metrics (RobotBuilder property) link_poses (RobotState property) load_collision_spheres (MotionRetargeterCfg attribute) load_from_scene_cfg() (SceneData method) load_robot() (in module curobo.examples.reference.robot_pose_calibration) load_scipy_opt() (in module curobo.examples.guides.custom_optimization), [1] load_torch_opt() (in module curobo.examples.guides.custom_optimization), [1] load_yaml() (in module curobo.config_io) local_ik_num_iters (MotionRetargeterCfg attribute) lock_jointstate (Kinematics property) log_and_raise() (in module curobo.logging) log_debug() (in module curobo.logging) log_info() (in module curobo.logging) log_warn() (in module curobo.logging) M main() (in module curobo.examples.getting_started.build_robot_model) (in module curobo.examples.getting_started.feature_mapping) (in module curobo.examples.getting_started.forward_kinematics) (in module curobo.examples.getting_started.humanoid_retargeting) (in module curobo.examples.getting_started.inverse_kinematics) (in module curobo.examples.getting_started.motion_planning) (in module curobo.examples.getting_started.reactive_control) (in module curobo.examples.getting_started.volumetric_mapping) (in module curobo.examples.guides.custom_optimization), [1] (in module curobo.examples.reference.robot_pose_calibration) (in module curobo.examples.reference.sphere_fit_comparison) Mapper (class in curobo.perception) MapperCfg (class in curobo.perception) MatchedVoxels (class in curobo.perception) material (Obstacle attribute) max_blocks (MapperCfg property) max_distance (SDFDetectorCfg property) max_feature_tile_channels (MapperCfg attribute) max_iterations (SDFDetectorCfg attribute) max_support_pixels_per_block_camera (MapperCfg attribute) max_uncovered_gap (SphereFitMetrics attribute) max_visible_blocks_per_integration (MapperCfg attribute) mean_action (EvolutionStrategies property) (MPPI property) memory_usage_mb() (Mapper method) merge_dict_a_into_b() (in module curobo.config_io) Mesh (class in curobo.scene) mesh (RobotMesh property) mesh_id (RobotMesh property) meshes (SceneData attribute) metrics (SphereFitResult attribute) min_valid_ratio (SDFDetectorCfg attribute) minimum_iters (LBFGSOptCfg attribute) minimum_tsdf_weight (MapperCfg attribute), [1] ModelPredictiveControl (in module curobo.model_predictive_control) ModelPredictiveControlCfg (in module curobo.model_predictive_control) ModelPredictiveControlResult (in module curobo.model_predictive_control) module curobo curobo._src.runtime curobo.batch_motion_planner curobo.collision_checking curobo.config_io curobo.examples curobo.examples.getting_started curobo.examples.getting_started.build_robot_model, [1] curobo.examples.getting_started.feature_mapping, [1] curobo.examples.getting_started.forward_kinematics, [1] curobo.examples.getting_started.humanoid_retargeting, [1] curobo.examples.getting_started.inverse_kinematics, [1] curobo.examples.getting_started.motion_planning, [1] curobo.examples.getting_started.reactive_control, [1] curobo.examples.getting_started.volumetric_mapping, [1] curobo.examples.guides curobo.examples.guides.custom_optimization, [1] curobo.examples.reference curobo.examples.reference.robot_pose_calibration curobo.examples.reference.sphere_fit_comparison curobo.inverse_kinematics curobo.kinematics curobo.logging curobo.model_predictive_control curobo.motion_planner curobo.motion_retargeter curobo.optim curobo.perception curobo.profiling curobo.robot_builder curobo.robot_parser curobo.rollout curobo.runtime curobo.scene curobo.sphere_fit curobo.tests curobo.tests.test_curobo_version curobo.trajectory_optimizer curobo.types curobo.viewer MORPHIT (SphereFitType attribute) MotionPlanner (class in curobo.motion_planner) MotionPlannerCfg (class in curobo.batch_motion_planner) (class in curobo.motion_planner) MotionRetargeter (class in curobo.motion_retargeter) MotionRetargeterCfg (class in curobo.motion_retargeter) mpc_cold_start_num_iters (MotionRetargeterCfg attribute) mpc_optimizer_configs (MotionRetargeterCfg attribute) mpc_warm_start_num_iters (MotionRetargeterCfg attribute) MPPI (class in curobo.optim) MPPICfg (class in curobo.optim) multiply() (Pose method) MultiStageOptimizer (class in curobo.optim) N n_faces (RobotMesh property) n_iterations_coarse (DetectorCfg attribute) n_iterations_fine (DetectorCfg attribute) n_mesh_points_coarse (DetectorCfg attribute) n_mesh_points_fine (DetectorCfg attribute) n_observed_points_coarse (DetectorCfg attribute) n_observed_points_fine (DetectorCfg attribute) n_points (SDFDetectorCfg attribute) n_rotation_samples (DetectorCfg attribute) n_vertices (RobotMesh property) name (CameraObservation attribute) (Obstacle attribute) (Pose attribute) ndim (GoalToolPose property), [1] (JointState property) (Pose property) (ToolPose property) neg_per_problem (EvolutionStrategies property) (MPPI property) non_terminal_pose_axes_weight_factor (ToolPoseCriteria attribute) non_terminal_pose_convergence_tolerance (ToolPoseCriteria attribute) normalize_rotation (Pose attribute) null_act_frac (MPPICfg attribute) null_act_seqs (EvolutionStrategies property) (MPPI property) null_per_problem (EvolutionStrategies property) (MPPI property) num_cameras (MapperCfg attribute) num_control_points (MotionRetargeterCfg attribute) num_dof (MotionRetargeter property) num_envs (MotionRetargeterCfg attribute) (SceneData attribute) (SequenceGoalToolPose property) num_frames (SequenceGoalToolPose property) num_goalset (GoalToolPose property), [1] (SequenceGoalToolPose property) num_iters (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) num_links (GoalToolPose property), [1] (SequenceGoalToolPose property) (ToolPose property) num_particles (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) num_problems (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) num_rollout_instances (LBFGSOptCfg property) (MPPICfg property) (ScipyOptCfg property) (TorchOptCfg property) num_seeds_global (MotionRetargeterCfg attribute) num_seeds_local (MotionRetargeterCfg attribute) num_spheres (RobotBuilder property) (SphereFitMetrics attribute) (SphereFitResult attribute) O Obstacle (class in curobo.scene) OccupiedVoxels (class in curobo.perception) opt_dim (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (MultiStageOptimizer property) (ScipyOpt property) (TorchOpt property) opt_dt (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) optimization_dt (MotionRetargeterCfg attribute) optimize() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) orientation_tolerance (MotionRetargeterCfg attribute) outer_iters (EvolutionStrategies property) (LBFGSOpt property) (LBFGSOptCfg property) (MPPI property) (MPPICfg property) (MultiStageOptimizer property) (ScipyOpt property) (ScipyOptCfg property) (TorchOpt property) (TorchOptCfg property) P particles_per_problem (EvolutionStrategies property) (MPPI property) pca_colorize() (in module curobo.examples.getting_started.feature_mapping) pca_colorize_tensor() (in module curobo.examples.getting_started.feature_mapping) pca_colorize_with_basis() (in module curobo.examples.getting_started.feature_mapping) plan_cspace() (BatchMotionPlanner method) (MotionPlanner method) plan_grasp() (BatchMotionPlanner method) (MotionPlanner method) plan_pose() (BatchMotionPlanner method) (MotionPlanner method) planning_time (GraspPlanResult attribute) pose (CameraObservation attribute) Pose (class in curobo.types) pose (Obstacle attribute) pose_planning_example() (in module curobo.examples.getting_started.motion_planning) PoseDetector (class in curobo.perception) position (GoalToolPose attribute), [1] (JointState attribute) (Pose attribute) (SequenceGoalToolPose attribute) (Sphere attribute) (ToolPose attribute) position_tolerance (MotionRetargeterCfg attribute) print_collision_matrix_stats() (RobotDebugger method) problem_col (EvolutionStrategies property) (MPPI property) process_frame() (in module curobo.examples.getting_started.feature_mapping) profile_integration_kernel_timings (MapperCfg attribute) profiler (in module curobo._src.runtime) project_distance_to_goal (ToolPoseCriteria attribute) project_features() (CRadioInference method) projection_matrix (CameraObservation attribute) projection_rays (CameraObservation attribute) protrusion (SphereFitMetrics attribute) protrusion_dist_mean (SphereFitMetrics attribute) protrusion_dist_p95 (SphereFitMetrics attribute) Q quaternion (GoalToolPose attribute), [1] (Pose attribute) (SequenceGoalToolPose attribute) (ToolPose attribute) R radii (SphereFitResult attribute) radius (Capsule attribute) (Cylinder attribute) (Sphere attribute) random_mean (MPPICfg attribute) reachability_example() (in module curobo.examples.getting_started.inverse_kinematics) reactive_control() (in module curobo.examples.getting_started.reactive_control) refit_link_spheres() (RobotBuilder method) reindex() (JointState method) reinitialize() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) remove_collision_ignore() (RobotBuilder method) render() (Mapper method) render_color() (Mapper method) render_color_only() (Mapper method) render_depth() (Mapper method) render_depth_colormap() (Mapper method) render_normal_colormap() (Mapper method) render_shaded() (Mapper method) reorder() (JointState method) reorder_links() (GoalToolPose method), [1] (ToolPose method) repeat() (JointState method) (Pose method) repeat_seeds() (JointState method) (Pose method) requires_grad_() (GoalToolPose method), [1] (Pose method) (ToolPose method) reset() (Mapper method) (MotionRetargeter method) (RosenbrockRollout method) reset_covariance() (EvolutionStrategies method) (MPPI method) reset_cuda_graph() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (RosenbrockRollout method) (ScipyOpt method) (TorchOpt method) reset_distribution() (EvolutionStrategies method) (MPPI method) reset_mean() (EvolutionStrategies method) (MPPI method) reset_seed() (BatchMotionPlanner method) (EvolutionStrategies method) (LBFGSOpt method) (MotionPlanner method) (MPPI method) (MultiStageOptimizer method) (RosenbrockRollout method) (ScipyOpt method) (TorchOpt method) reset_shape() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (RosenbrockRollout method) (ScipyOpt method) (TorchOpt method) resolution (CameraObservation attribute) resolve_config() (in module curobo.config_io) resolve_torchhub_version() (CRadioInference static method) retarget_bvh_files() (in module curobo.examples.getting_started.humanoid_retargeting) RetargetResult (class in curobo.motion_retargeter) return_best_action (LBFGSOptCfg attribute) rgb_image (CameraObservation attribute) rho_min (SDFDetectorCfg attribute) robot (MotionRetargeterCfg attribute) robot_asset_absolute_path (ContentPath attribute) robot_asset_root_path (ContentPath attribute) robot_asset_subroot_path (ContentPath attribute) robot_collision_geometry (KinematicsState attribute) robot_com (KinematicsState attribute) robot_config (RobotDebugger property) robot_config_absolute_path (ContentPath attribute) robot_config_file (ContentPath attribute) robot_config_root_path (ContentPath attribute) robot_model (RobotDebugger property) robot_spheres (Kinematics property) (KinematicsState attribute) (RobotState property) robot_urdf_absolute_path (ContentPath attribute) robot_urdf_file (ContentPath attribute) robot_urdf_root_path (ContentPath attribute) robot_xrdf_absolute_path (ContentPath attribute) robot_xrdf_file (ContentPath attribute) robot_xrdf_root_path (ContentPath attribute) RobotBuilder (class in curobo.robot_builder) RobotCollisionChecker (in module curobo.collision_checking) RobotCollisionCheckerCfg (in module curobo.collision_checking) RobotDebugger (class in curobo.robot_builder) RobotMesh (class in curobo.perception) RobotSegmenter (class in curobo.perception) RobotState (class in curobo.types) rollout_fn (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) root_link (UrdfRobotParser property) RosenbrockCfg (class in curobo.rollout) RosenbrockRollout (class in curobo.rollout) rotation (Pose attribute) rotation_convergence_threshold (SDFDetectorCfg attribute) roughness (MapperCfg attribute) S sample_actions() (EvolutionStrategies method) (MPPI method) sample_collision_checks() (RobotDebugger method) sample_lib (EvolutionStrategies property) (MPPI property) sample_mode (MPPICfg attribute) sample_params (MPPICfg attribute) sample_per_problem (MPPICfg attribute) sample_random_actions() (RosenbrockRollout method) sample_surface_points() (RobotMesh method) sampled_particles_per_problem (EvolutionStrategies property) (MPPI property) sampler_seed (RosenbrockCfg attribute) save() (RobotBuilder method) save_as_mesh() (Obstacle method) save_iterations (DetectorCfg attribute) save_to_file() (CameraObservation method) save_xrdf() (RobotBuilder method) scale (Obstacle attribute) scale() (JointState method) scale_by_dt() (JointState method) scale_time() (JointState method) scale_tril (EvolutionStrategies property) (MPPI property) Scene (in module curobo.scene) scene_collision_cfg (MotionPlannerCfg attribute), [1] scene_config_absolute_path (ContentPath attribute) scene_config_file (ContentPath attribute) scene_config_root_path (ContentPath attribute) scene_model (MotionRetargeterCfg attribute) (SceneData attribute) SceneData (class in curobo.scene) scipy_minimize_kwargs (ScipyOptCfg attribute) scipy_minimize_method (ScipyOptCfg attribute) ScipyOpt (class in curobo.optim) ScipyOptCfg (class in curobo.optim) scores_per_voxel() (MatchedVoxels method) SDFDetectorCfg (class in curobo.perception) SDFPoseDetector (class in curobo.perception) seed (MPPICfg attribute) seeding_method (MapperCfg attribute) self_collision_check (MotionRetargeterCfg attribute) self_collision_config (KinematicsCfg attribute) SequenceGoalToolPose (class in curobo.motion_retargeter) setup_logger() (in module curobo.logging) shape (CameraObservation property) (GoalToolPose property), [1] (JointState property) (Pose property) (ToolPose property) shift() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) show_empty_reconstruction() (in module curobo.examples.getting_started.feature_mapping) show_feature_reconstruction() (in module curobo.examples.getting_started.feature_mapping) single_ik_example() (in module curobo.examples.getting_started.inverse_kinematics) solve_frame() (MotionRetargeter method) solve_sequence() (MotionRetargeter method) solve_time (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (MultiStageOptimizer property) (ScipyOpt property) (TorchOpt property) solver_name (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) solver_names (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (MultiStageOptimizer property) (ScipyOpt property) (TorchOpt property) solver_type (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) Sphere (class in curobo.scene) SphereFitMetrics (class in curobo.sphere_fit) SphereFitResult (class in curobo.sphere_fit) SphereFitType (class in curobo.sphere_fit) squash_fn (MPPICfg attribute) squashed_mean (MPPI property) squeeze() (JointState method) (Pose method) stable_mode (LBFGSOptCfg attribute) stack() (CameraObservation method) (JointState method) (Pose method) start() (CudaEventTimer method) state_bounds (RosenbrockRollout property) static_obstacle_color (MapperCfg attribute) status (GraspPlanResult attribute) step_scale (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) step_size_cov (MPPICfg attribute) step_size_mean (MPPICfg attribute) steps_per_target (MotionRetargeterCfg attribute) stop() (CudaEventTimer method) store_debug (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) store_rollouts (MPPICfg attribute) success (GraspPlanResult attribute) sum_horizon (RosenbrockCfg attribute) Sun3dDataset (class in curobo.examples.getting_started.volumetric_mapping) SURFACE (SphereFitType attribute) surface_gap_mean (SphereFitMetrics attribute) surface_gap_p95 (SphereFitMetrics attribute) sync_cuda_time (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) T terminal_pose_axes_weight_factor (ToolPoseCriteria attribute) terminal_pose_convergence_tolerance (ToolPoseCriteria attribute) test() (in module curobo.examples.getting_started.build_robot_model) (in module curobo.examples.getting_started.forward_kinematics) (in module curobo.examples.getting_started.inverse_kinematics) (in module curobo.examples.getting_started.motion_planning) (in module curobo.examples.getting_started.reactive_control) test_curobo_version() (in module curobo.tests.test_curobo_version) texture (Obstacle attribute) texture_id (Obstacle attribute) time_action_horizon (RosenbrockCfg attribute) time_horizon (RosenbrockCfg attribute) timestamp (CameraObservation attribute) tip (Capsule attribute) to() (CameraObservation method) (JointState method) (Pose method) to_cpu() (Mesh method) to_device() (DeviceCfg method) to_dict() (GoalToolPose method), [1] (ToolPose method) to_gpu() (Mesh method) to_int8_device() (DeviceCfg method) to_list() (Pose method) to_warp() (SceneData method) tolist() (Pose method) tool_frames (BatchMotionPlanner property) (GoalToolPose attribute), [1] (Kinematics property) (KinematicsCfg attribute) (KinematicsState property) (MotionPlanner property) (MotionRetargeter property) (MotionRetargeterCfg property) (RobotBuilder property) (RobotState property) (SequenceGoalToolPose attribute) (ToolPose attribute) tool_jacobians (KinematicsState attribute) tool_pose_criteria (MotionRetargeterCfg attribute) tool_poses (KinematicsState attribute) (RobotState property) ToolPose (class in curobo.types) ToolPoseCriteria (class in curobo.types) top_trajs (EvolutionStrategies property) (MPPI property) torch_compile (in module curobo._src.runtime) torch_compile_slow (in module curobo._src.runtime) torch_jit (in module curobo._src.runtime) torch_optim_class (TorchOptCfg attribute) torch_optim_kwargs (TorchOptCfg attribute) torch_optim_name (TorchOptCfg attribute) TorchOpt (class in curobo.optim) TorchOptCfg (class in curobo.optim) total_num_particles (EvolutionStrategies property) (MPPI property) total_spheres (Kinematics property) track_orientation() (ToolPoseCriteria static method) track_position() (ToolPoseCriteria static method) track_position_and_orientation() (ToolPoseCriteria static method) trajectory (RetargetResult attribute) TrajectoryOptimizer (in module curobo.trajectory_optimizer) TrajectoryOptimizerCfg (in module curobo.trajectory_optimizer) TrajectoryOptimizerResult (in module curobo.trajectory_optimizer) trajopt_solver_config (MotionPlannerCfg attribute), [1] transform_point() (Pose method) transform_points() (Pose method) trim_trajectory() (JointState method) truncation_distance (MapperCfg attribute), [1] tsdf (Mapper property) U unsqueeze() (JointState method) (Pose method) update() (RobotMesh method) update_batch_size() (Kinematics method) (RosenbrockRollout method) update_camera_projection() (RobotSegmenter method) update_config() (FilterDepth method) update_cov (MPPICfg attribute) update_dt() (RosenbrockRollout method) update_goal_dt() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) update_init_mean() (EvolutionStrategies method) (MPPI method) update_kinematics_config() (Kinematics method) update_link_inertial() (BatchMotionPlanner method) (MotionPlanner method) update_links_inertial() (BatchMotionPlanner method) (MotionPlanner method) update_material() (Mesh method) update_niters() (EvolutionStrategies method) (LBFGSOpt method) (LBFGSOptCfg method) (MPPI method) (MPPICfg method) (MultiStageOptimizer method) (ScipyOpt method) (ScipyOptCfg method) (TorchOpt method) (TorchOptCfg method) update_num_problems() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) update_obstacle_pose() (SceneData method) update_params() (RosenbrockRollout method) update_projection_rays() (CameraObservation method) update_rollout_params() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) update_samples() (EvolutionStrategies method) (MPPI method) update_seed() (EvolutionStrategies method) (MPPI method) update_solver_params() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) update_static_obstacles() (Mapper method) update_tool_pose_criteria() (BatchMotionPlanner method) (MotionPlanner method) update_world() (BatchMotionPlanner method) (MotionPlanner method) upsample_nn() (in module curobo.examples.getting_started.feature_mapping) urdf_path (Mesh attribute) UrdfRobotParser (class in curobo.robot_parser) UsdWriter() (in module curobo.viewer) use_coo_sparse (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) use_cuda_graph (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (SDFDetectorCfg attribute) use_cuda_kernel_line_search (LBFGSOptCfg attribute) use_cuda_kernel_shared_buffers (LBFGSOptCfg attribute) use_cuda_kernel_step_direction (LBFGSOptCfg attribute) use_float64_on_cpu (ScipyOptCfg attribute) use_huber (SDFDetectorCfg attribute) use_huber_loss (DetectorCfg attribute) use_mpc (MotionRetargeterCfg attribute) use_svd (DetectorCfg attribute) used_mesh (SphereFitResult attribute) V velocity (JointState attribute) velocity_regularization_weight (MotionRetargeterCfg attribute) vertex_colors (Mesh attribute) vertex_normals (Mesh attribute) vertices (Mesh attribute) (RobotMesh property) view() (JointState method) ViserVisualizer() (in module curobo.viewer) visualize() (RobotBuilder method) visualize_batch_rosenbrock() (in module curobo.examples.guides.custom_optimization), [1] visualize_batch_rosenbrock_3d() (in module curobo.examples.guides.custom_optimization), [1] visualize_collision_at_config() (RobotDebugger method) visualize_motion() (in module curobo.examples.getting_started.humanoid_retargeting) volume_ratio (SphereFitMetrics attribute) VOXEL (SphereFitType attribute) voxel_size (MapperCfg attribute), [1] (VoxelGrid attribute) voxel_to_world() (MapperCfg method) VoxelGrid (class in curobo.scene) voxels (MatchedVoxels attribute), [1] (SceneData attribute) W warmup() (BatchMotionPlanner method) (MotionPlanner method) world_asset_root_path (ContentPath attribute) world_to_voxel() (MapperCfg method) write_yaml() (in module curobo.config_io) X xyzr_tensor (VoxelGrid attribute) Z zeros() (JointState static method)