storm_kit.geom.nn_model.robot_self_collision module¶
-
class
RobotSelfCollisionNet
(n_joints=0)[source]¶ Bases:
object
This class loads a network to predict the signed distance given a robot joint config.
initialize class
- Parameters
n_joints (int, optional) – Number of joints, same as number of channels for nn input. Defaults to 0.
-
check_collision
(q)[source]¶ Check collision given joint config. Requires classifier like training.
- Parameters
q (tensor) – input batch of joint configs [b, n_joints]
- Returns
probability of collision of links, from sigmoid value.
- Return type
[tensor]