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
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