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