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__() (CameraObservation method) (Capsule method) (ContentPath method) (Cuboid method) (CudaEventTimer method) (Cylinder method) (DetectorCfg method) (DeviceCfg method) (EvolutionStrategies method) (EvolutionStrategiesCfg method) (FilterDepth method) (GoalToolPose method) (JointState method) (JointTargetServo method) (Kinematics method) (KinematicsCfg method) (KinematicsState method) (LBFGSOpt method) (LBFGSOptCfg method) (LidarObservation method) (Mapper method) (MapperCfg method) (MatchedVoxels method) (Mesh method) (MotionRetargeter method) (MotionRetargeterCfg method) (MPPI method) (MPPICfg method) (MultiStageOptimizer method) (Obstacle method) (OccupiedPoints method) (OccupiedVoxels method) (Pose method) (PoseDetector method) (RenderedFeatures 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) (SemanticFilter method) (SequenceGoalToolPose method) (Sphere method) (SphereFitMetrics method) (SphereFitResult method) (SplineLayout method) (ToolPose method) (ToolPoseCriteria method) (ToolRelativeTransformCriteria method) (ToolRelativeTransformTarget method) (ToolVelocityLimitCriteria 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 (EvolutionStrategies property) (LBFGSOpt 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_axis_scale (ToolVelocityLimitCriteria attribute) angular_distance() (Pose method) angular_projector (ToolVelocityLimitCriteria attribute) append_joints() (JointState method) apply_kernel() (JointState method) (Pose method) as_goal() (ToolPose method) as_path_constraint() (ToolPoseCriteria method) as_torch_dict() (DeviceCfg method) 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 (GoalToolPose property) (JointTargetServo property) (Pose attribute) (RosenbrockRollout property) (ToolPose property) batch_transform_points() (Pose method) batch_transform_points_inverse() (Pose method) best_traj (EvolutionStrategies property) (MPPI property) beta (MPPICfg attribute) blend() (JointState method) block_data (OccupiedVoxels attribute) block_idx_per_voxel (OccupiedVoxels attribute) block_pool_idx (MatchedVoxels attribute) block_scores (MatchedVoxels attribute) block_size (MapperCfg attribute) build() (RobotBuilder method) build_link_parent() (UrdfRobotParser method) C cache_dir (in module curobo._src.runtime) calculate_fd_from_position() (JointState method) CameraObservation (class in curobo.types) Capsule (class in curobo.scene) capsules (SceneData attribute) cat() (JointState method) (Pose static method) centers (OccupiedVoxels attribute) (SphereFitResult attribute) check_collision_at_config() (RobotDebugger method) check_default_joint_configuration_collision() (RobotDebugger method) check_obstacle_exists() (SceneData method) checkpoint() (CudaEventTimer method) clear() (SceneData method) clear_blocks() (Mapper method) clear_instance_slot() (Mapper method) clear_region() (Mapper method) clone() (CameraObservation method) (GoalToolPose method) (JointState method) (KinematicsState method) (LidarObservation method) (Pose method) (RobotState method) (SequenceGoalToolPose method) (ToolPose method) (ToolPoseCriteria method) (ToolRelativeTransformCriteria method) (ToolRelativeTransformTarget method) (ToolVelocityLimitCriteria method) (VoxelGrid method) collision_activation_distance (MotionRetargeterCfg attribute) collision_distance_dtype (DeviceCfg attribute) 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) color_grid_size (MapperCfg attribute) colors_uint8() (OccupiedPoints method) (OccupiedVoxels method) command_state() (JointTargetServo method) compute_collision_matrix() (RobotBuilder method) compute_esdf() (Mapper method) compute_kinematics() (Kinematics 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) config (EvolutionStrategies property) (LBFGSOpt property) (MotionRetargeter property) (MPPI property) ContentPath (class in curobo.types) contiguous() (Pose method) (ToolPose method) (ToolRelativeTransformTarget method) continue_optimization() (LBFGSOpt method) (MultiStageOptimizer method) control_space (JointState attribute) (SplineLayout attribute) converged_ratio (LBFGSOptCfg attribute) convergence_iteration (LBFGSOptCfg attribute) convergence_threshold (SDFDetectorCfg attribute) copy_() (CameraObservation method) (GoalToolPose method) (JointState method) (KinematicsState method) (LidarObservation method) (Pose method) (RobotState method) (ToolPose method) (ToolPoseCriteria method) (ToolRelativeTransformCriteria method) (ToolRelativeTransformTarget method) (ToolVelocityLimitCriteria 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_path_constraint_() (ToolPoseCriteria method) copy_reference() (JointState method) cost_convergence (LBFGSOptCfg attribute) cost_delta_threshold (LBFGSOptCfg attribute) cost_relative_threshold (LBFGSOptCfg attribute) count (OccupiedPoints attribute) cov_action (EvolutionStrategies property) (MPPI property) cov_type (MPPICfg attribute) coverage (SphereFitMetrics attribute) cpu() (DeviceCfg method) create() (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_xyzr_tensor() (VoxelGrid method) cspace (KinematicsCfg property) Cuboid (class in curobo.scene) cuboids (SceneData attribute) 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.collision_checking module curobo.config_io module curobo.examples.getting_started.build_robot_model module curobo.examples.getting_started.feature_mapping module curobo.examples.getting_started.forward_kinematics module curobo.examples.getting_started.humanoid_retargeting module curobo.examples.getting_started.inverse_kinematics module curobo.examples.getting_started.reactive_control module curobo.examples.getting_started.volumetric_mapping module curobo.examples.guides.custom_optimization module curobo.inverse_kinematics module curobo.kinematics module curobo.logging module curobo.model_predictive_control 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.servo module curobo.sphere_fit module curobo.types module curobo.viewer module current_joint_angles (RobotMesh property) Cylinder (class in curobo.scene) cylinders (SceneData attribute) 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) default_joint_position (Kinematics property) default_joint_state (Kinematics property) (MotionRetargeter property) degree (SplineLayout property) dense_horizon() (SplineLayout method) depth (RenderedFeatures attribute) depth_image (CameraObservation attribute) depth_maximum_distance (MapperCfg attribute) depth_minimum_distance (MapperCfg attribute) depth_to_meter (CameraObservation attribute) detach() (GoalToolPose method) (JointState method) (KinematicsState method) (Pose method) (RobotState method) (ToolPose method) (ToolRelativeTransformTarget method) detect() (PoseDetector method) (SDFPoseDetector method) detect_from_points() (PoseDetector method) (SDFPoseDetector method) DetectorCfg (class in curobo.perception) device (DeviceCfg attribute) (GoalToolPose property) (JointState property) (MapperCfg attribute) (Pose property) (SequenceGoalToolPose property) (ToolPose property) (ToolRelativeTransformTarget property) device_cfg (DetectorCfg attribute) (EvolutionStrategies property) (JointState attribute) (KinematicsCfg attribute) (LBFGSOpt property) (LBFGSOptCfg attribute) (MotionRetargeterCfg attribute) (MPPI property) (MPPICfg attribute) (Obstacle attribute) (RosenbrockCfg attribute) (SceneData attribute) (ScipyOptCfg attribute) (SDFDetectorCfg attribute) (ToolPoseCriteria attribute) (ToolRelativeTransformCriteria attribute) (ToolVelocityLimitCriteria attribute) (TorchOptCfg attribute) DeviceCfg (class in curobo.types) dimensions (RosenbrockCfg attribute) dims (Cuboid attribute) (VoxelGrid attribute) disable() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) disabled() (ToolPoseCriteria static method) (ToolRelativeTransformCriteria static method) (ToolVelocityLimitCriteria static method) distance() (Pose method) distance_threshold (SDFDetectorCfg attribute) distance_threshold_coarse (DetectorCfg attribute) distance_threshold_fine (DetectorCfg attribute) dof (JointTargetServo property) (Kinematics property) (KinematicsCfg property) dt (JointState attribute) (RosenbrockRollout property) dtype (DeviceCfg attribute) (JointState property) (ToolRelativeTransformTarget property) E edt_solver (MapperCfg attribute) elevation_range_rad (LidarObservation attribute) enable() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) enable_obstacle() (SceneData method) enable_static (MapperCfg attribute) enabled (EvolutionStrategies property) (LBFGSOpt property) (MPPI property) (MultiStageOptimizer property) (ScipyOpt property) (ToolRelativeTransformCriteria property) (TorchOpt property) enforce_path_tolerance (ToolPoseCriteria attribute) enforce_terminal_tolerance (ToolPoseCriteria attribute) entropy (MPPI property) epsilon (LBFGSOptCfg attribute) error_frame (ToolPoseCriteria 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) extent_esdf_meters_xyz (MapperCfg attribute) extent_meters_xyz (MapperCfg attribute) extract_depth_from_structured_pointcloud() (CameraObservation method) extract_matching_feature_voxels() (Mapper method) extract_mesh() (Mapper method) extract_occupied_points() (Mapper method) extract_occupied_voxels() (Mapper method) extract_textured_mesh() (Mapper method) F face_colors (Mesh attribute) faces (Mesh attribute) (RobotMesh property) feature_block_grid_size (MapperCfg attribute) feature_block_idx (RenderedFeatures attribute) feature_channels_per_thread (MapperCfg attribute) feature_dim (MapperCfg attribute) feature_dtype (VoxelGrid attribute) feature_grid (CameraObservation attribute) (LidarObservation attribute) feature_grid_height (MapperCfg attribute) feature_grid_width (MapperCfg attribute) feature_integration_kernel (MapperCfg attribute) feature_node_idx (RenderedFeatures attribute) feature_tensor (VoxelGrid attribute) feature_valid (RenderedFeatures attribute) features() (OccupiedPoints method) (OccupiedVoxels method) (RenderedFeatures 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) 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_polygon_faces() (Mesh class method) from_poses() (GoalToolPose class method) 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_tool_pose() (ToolRelativeTransformTarget class method) from_trimesh() (RobotMesh class method) from_xrdf() (RobotDebugger class method) frustum_decay_factor (MapperCfg attribute) full_image_shape (RenderedFeatures attribute) 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) (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) GOAL (PoseErrorFrame attribute) GoalToolPose (class in curobo.types) grid_center (MapperCfg attribute) grid_shape (MapperCfg property) H has_capsules() (SceneData method) has_cuboids() (SceneData method) has_cylinders() (SceneData method) has_meshes() (SceneData method) has_voxels() (SceneData method) hash_capacity (MapperCfg property) hash_load_factor (MapperCfg attribute) height (Cylinder attribute) history (LBFGSOptCfg attribute) (SphereFitResult attribute) horizon (EvolutionStrategies property) (GoalToolPose property) (LBFGSOpt property) (MPPI property) (RosenbrockRollout property) (ScipyOpt property) (ToolPose property) (TorchOpt property) huber_delta (DetectorCfg attribute) (SDFDetectorCfg attribute) I ik_optimizer_configs (MotionRetargeterCfg attribute) image_height (MapperCfg attribute) image_origin (RenderedFeatures attribute) image_segmentation (CameraObservation attribute) image_width (MapperCfg attribute) import_blocks() (Mapper method) 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) instance_confidence_uint8() (OccupiedVoxels method) instance_grid_size (MapperCfg attribute) instance_image (CameraObservation attribute) instance_slots_uint8() (OccupiedVoxels method) instance_state_uint16() (OccupiedPoints method) (OccupiedVoxels method) integrate() (Mapper method) integrator (Mapper property) interpolation_steps (SplineLayout attribute) intervals (CudaEventTimer property) 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 (JointState attribute) (Kinematics property) (MotionRetargeter property) joint_state (RetargetResult attribute) (RobotState attribute) joint_torque (RobotState attribute) JointState (class in curobo.types) JointTargetServo (class in curobo.servo) K kappa (MPPICfg attribute) kernel_launch_sm_count (in module curobo._src.runtime) Kinematics (class in curobo.kinematics) kinematics (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) lidar_feature_grid_height (MapperCfg attribute) lidar_feature_grid_width (MapperCfg attribute) lidar_image_height (MapperCfg attribute) lidar_image_width (MapperCfg attribute) lidar_linear_interpolation_max_allowable_difference_vox (MapperCfg attribute) lidar_nearest_interpolation_max_allowable_dist_to_ray_vox (MapperCfg attribute) lidar_num_sensors (MapperCfg attribute) LidarObservation (class in curobo.types) limit() (ToolVelocityLimitCriteria static method) line_search_backtracking (LBFGSOptCfg 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_axis_scale (ToolVelocityLimitCriteria attribute) linear_distance() (Pose method) linear_motion() (ToolPoseCriteria static method) linear_projector (ToolVelocityLimitCriteria attribute) link_metrics (RobotBuilder property) link_poses (RobotState property) load_blocks() (Mapper class method) load_collision_spheres (MotionRetargeterCfg attribute) load_from_scene_cfg() (SceneData method) 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 Mapper (class in curobo.perception) MapperCfg (class in curobo.perception) MatchedVoxels (class in curobo.perception) material (Obstacle attribute) max_angular_speed (ToolVelocityLimitCriteria attribute) max_blocks (MapperCfg property) max_blocks_override (MapperCfg attribute) max_distance (SDFDetectorCfg property) max_feature_tile_channels (MapperCfg attribute) max_iterations (SDFDetectorCfg attribute) max_linear_speed (ToolVelocityLimitCriteria attribute) max_support_pixels_per_block_camera (MapperCfg attribute) max_support_pixels_per_block_lidar (MapperCfg attribute) max_uncovered_gap (SphereFitMetrics attribute) max_visible_blocks_per_integration (MapperCfg attribute) max_visible_blocks_per_lidar_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_similarity (SemanticFilter attribute) min_valid_ratio (SDFDetectorCfg attribute) minimum_iters (LBFGSOptCfg attribute) minimum_tsdf_weight (MapperCfg attribute) mode (SemanticFilter attribute) 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.collision_checking curobo.config_io curobo.examples.getting_started.build_robot_model curobo.examples.getting_started.feature_mapping curobo.examples.getting_started.forward_kinematics curobo.examples.getting_started.humanoid_retargeting curobo.examples.getting_started.inverse_kinematics curobo.examples.getting_started.reactive_control curobo.examples.getting_started.volumetric_mapping curobo.examples.guides.custom_optimization curobo.inverse_kinematics curobo.kinematics curobo.logging curobo.model_predictive_control curobo.motion_retargeter curobo.optim curobo.perception curobo.profiling curobo.robot_builder curobo.robot_parser curobo.rollout curobo.runtime curobo.scene curobo.servo curobo.sphere_fit curobo.types curobo.viewer MORPHIT (SphereFitType attribute) 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) (LidarObservation attribute) (Obstacle attribute) (Pose attribute) native_horizon (SplineLayout property) ndim (GoalToolPose property) (JointState property) (Pose property) (ToolPose property) (ToolRelativeTransformTarget 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) normals (RenderedFeatures 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) (SequenceGoalToolPose property) num_iters (LBFGSOptCfg attribute) (MPPICfg attribute) (ScipyOptCfg attribute) (TorchOptCfg attribute) num_knots (SplineLayout attribute) num_links (GoalToolPose property) (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) num_target_groups (ToolRelativeTransformTarget property) num_tool_frames (ToolRelativeTransformTarget property) O Obstacle (class in curobo.scene) OccupiedPoints (class in curobo.perception) 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) optimize_without_timing() (LBFGSOpt 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 padding (SplineLayout property) particles_per_problem (EvolutionStrategies property) (MPPI property) path_position_axis_scale (ToolPoseCriteria attribute) path_position_projector (ToolPoseCriteria attribute) path_rotation_axis_scale (ToolPoseCriteria attribute) path_rotation_projector (ToolPoseCriteria attribute) path_tolerance (ToolPoseCriteria attribute) pose (CameraObservation attribute) Pose (class in curobo.types) pose (LidarObservation attribute) (Obstacle attribute) PoseDetector (class in curobo.perception) PoseErrorFrame (class in curobo.types) position (GoalToolPose attribute) (JointState attribute) (Pose attribute) (SequenceGoalToolPose attribute) (Sphere attribute) (ToolPose attribute) (ToolRelativeTransformTarget attribute) position_axis_scale (ToolRelativeTransformCriteria attribute) position_projector (ToolRelativeTransformCriteria attribute) position_tolerance (MotionRetargeterCfg attribute) positions (OccupiedPoints attribute) print_collision_matrix_stats() (RobotDebugger method) problem_col (EvolutionStrategies property) (MPPI property) profile_integration_kernel_timings (MapperCfg attribute) profiler (in module curobo._src.runtime) project_distance_to_goal (ToolPoseCriteria attribute) 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) (Pose attribute) (SequenceGoalToolPose attribute) (ToolPose attribute) (ToolRelativeTransformTarget attribute) R radii (SphereFitResult attribute) radius (Capsule attribute) (Cylinder attribute) (Sphere attribute) random_mean (MPPICfg attribute) range_image (LidarObservation attribute) reference_intervals (SplineLayout property) reference_tool_frame (ToolRelativeTransformTarget attribute) 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_features() (Mapper method) render_normal_colormap() (Mapper method) render_shaded() (Mapper method) RenderedFeatures (class in curobo.perception) reorder() (JointState method) reorder_links() (GoalToolPose method) (ToolPose method) repeat() (JointState method) (Pose method) repeat_seeds() (JointState method) (Pose method) require_argmax (SemanticFilter attribute) requires_grad_() (GoalToolPose method) (Pose method) (ToolPose method) (ToolRelativeTransformTarget method) reset() (JointTargetServo method) (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() (EvolutionStrategies method) (LBFGSOpt 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_kernel_launch_sm_count() (in module curobo._src.runtime) RetargetResult (class in curobo.motion_retargeter) return_best_action (LBFGSOptCfg attribute) rgb_image (CameraObservation attribute) (LidarObservation attribute) rho_min (SDFDetectorCfg attribute) rigid() (ToolRelativeTransformCriteria static method) 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_axis_scale (ToolRelativeTransformCriteria attribute) rotation_convergence_threshold (SDFDetectorCfg attribute) rotation_projector (ToolRelativeTransformCriteria 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_blocks() (Mapper 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_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) SemanticFilter (class in curobo.perception) SequenceGoalToolPose (class in curobo.motion_retargeter) set_obstacle_layers() (SceneData method) set_target() (JointTargetServo method) setup_logger() (in module curobo.logging) shape (CameraObservation property) (GoalToolPose property) (JointState property) (LidarObservation property) (Pose property) (ToolPose property) (ToolRelativeTransformTarget property) shift() (EvolutionStrategies method) (LBFGSOpt method) (MPPI method) (MultiStageOptimizer method) (ScipyOpt method) (TorchOpt method) skip_checks (in module curobo._src.runtime) 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) source_voxels (OccupiedPoints attribute) Sphere (class in curobo.scene) SphereFitMetrics (class in curobo.sphere_fit) SphereFitResult (class in curobo.sphere_fit) SphereFitType (class in curobo.sphere_fit) SplineLayout (class in curobo.types) 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) step() (JointTargetServo method) 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) subvoxel_factor (OccupiedVoxels attribute) sum_horizon (RosenbrockCfg attribute) 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 target (SemanticFilter attribute) tensor_field_names() (ToolPoseCriteria class method) (ToolRelativeTransformCriteria class method) (ToolVelocityLimitCriteria class method) terminal_pose_axes_weight_factor (ToolPoseCriteria attribute) terminal_pose_convergence_tolerance (ToolPoseCriteria attribute) terminal_position_axis_scale (ToolPoseCriteria attribute) terminal_position_projector (ToolPoseCriteria attribute) terminal_rotation_axis_scale (ToolPoseCriteria attribute) terminal_rotation_projector (ToolPoseCriteria attribute) terminal_tolerance (ToolPoseCriteria attribute) texture (Obstacle attribute) texture_camera_image_height (MapperCfg attribute) texture_camera_image_width (MapperCfg attribute) texture_colors (OccupiedVoxels attribute) texture_id (Obstacle attribute) texture_image (Mesh attribute) texture_num_cameras (MapperCfg attribute) texture_uvs (Mesh attribute) texture_valid (OccupiedVoxels attribute) time_action_horizon (RosenbrockCfg attribute) time_horizon (RosenbrockCfg attribute) timestamp (CameraObservation attribute) (LidarObservation attribute) tip (Capsule attribute) to() (CameraObservation method) (JointState method) (LidarObservation method) (Pose method) (ToolPoseCriteria method) (ToolRelativeTransformCriteria method) (ToolVelocityLimitCriteria method) to_cpu() (Mesh method) to_device() (DeviceCfg method) to_dict() (GoalToolPose method) (ToolPose method) to_gpu() (Mesh method) to_int8_device() (DeviceCfg method) to_list() (Pose method) to_warp() (SceneData method) tolerance (ToolRelativeTransformCriteria attribute) tolist() (Pose method) tool_frames (GoalToolPose attribute) (Kinematics property) (KinematicsCfg attribute) (KinematicsState property) (MotionRetargeter property) (MotionRetargeterCfg property) (RobotBuilder property) (RobotState property) (SequenceGoalToolPose attribute) (ToolPose attribute) (ToolRelativeTransformTarget attribute) tool_jacobians (KinematicsState attribute) (RobotState property) tool_pose_criteria (MotionRetargeterCfg attribute) tool_poses (KinematicsState attribute) (RobotState property) ToolPose (class in curobo.types) ToolPoseCriteria (class in curobo.types) ToolRelativeTransformCriteria (class in curobo.types) ToolRelativeTransformTarget (class in curobo.types) ToolVelocityLimitCriteria (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) (ToolRelativeTransformCriteria static method) track_pose() (ToolPoseCriteria static method) track_position() (ToolPoseCriteria static method) (ToolRelativeTransformCriteria static method) track_position_and_orientation() (ToolPoseCriteria static method) trajectory (RetargetResult attribute) transform_point() (Pose method) transform_points() (Pose method) trim_trajectory() (JointState method) truncation_distance (MapperCfg attribute) 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_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) urdf_path (Mesh attribute) UrdfRobotParser (class in curobo.robot_parser) UsdWriter() (in module curobo.viewer) use_compact_operator (LBFGSOptCfg attribute) 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_float64_on_cpu (ScipyOptCfg attribute) use_geometric_scaling (LBFGSOptCfg attribute) use_huber (SDFDetectorCfg attribute) use_huber_loss (DetectorCfg attribute) use_mpc (MotionRetargeterCfg attribute) use_small_gpu_launch_policy() (in module curobo._src.runtime) use_svd (DetectorCfg attribute) used_mesh (SphereFitResult attribute) V valid (RenderedFeatures attribute) valid_range_m (LidarObservation attribute) 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_collision_at_config() (RobotDebugger method) volume_ratio (SphereFitMetrics attribute) VOXEL (SphereFitType attribute) voxel_size (MapperCfg attribute) (VoxelGrid attribute) voxel_to_world() (MapperCfg method) VoxelGrid (class in curobo.scene) voxels (MatchedVoxels attribute) (SceneData attribute) W waypoint_indices() (SplineLayout method) WORLD (PoseErrorFrame attribute) 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)