curobo.wrap.wrap_base module¶

class WrapConfig( safety_rollout: curobo.rollout.rollout_base.RolloutBase, optimizers: List[curobo.opt.opt_base.Optimizer], compute_metrics: bool, use_cuda_graph_metrics: bool, sync_cuda_time: bool, )¶

Bases: object

safety_rollout: RolloutBase¶

optimizers: List[Optimizer]¶

compute_metrics: bool¶

use_cuda_graph_metrics: bool¶

sync_cuda_time: bool¶

class WrapResult( action: curobo.types.state.State, solve_time: float, metrics: curobo.rollout.rollout_base.RolloutMetrics | None = None, debug: Any = None, js_action: curobo.types.state.State | None = None, raw_action: torch.Tensor | None = None, )¶

Bases: object

action: State¶

solve_time: float¶

metrics: RolloutMetrics | None = None¶

debug: Any = None¶

js_action: State | None = None¶

raw_action: Tensor | None = None¶

clone()¶

class WrapBase( config: WrapConfig | None = None, )¶

Bases: WrapConfig

get_metrics( state: State, use_cuda_graph: bool = False, ) → RolloutMetrics¶

optimize( act_seq: Tensor, shift_steps: int = 0, ) → Tensor¶

get_debug_data()¶

get_debug_cost()¶

update_nproblems(n_problems)¶

update_params( goal: Goal, )¶

get_init_act()¶

reset()¶

reset_seed()¶

reset_cuda_graph()¶

reset_shape()¶

property rollout_fn¶

property tensor_args¶

solve( goal: Goal, seed: Tensor | None = None, )¶

property newton_optimizer: NewtonOptBase¶

property particle_optimizer: ParticleOptBase¶

property joint_names¶

_get_rollout_instances_from_optimizers() → List[RolloutBase]¶

get_all_rollout_instances() → List[RolloutBase]¶

safety_rollout: RolloutBase¶

optimizers: List[Optimizer]¶

compute_metrics: bool¶

use_cuda_graph_metrics: bool¶

sync_cuda_time: bool¶