curobo.wrap.wrap_mpc module

class WrapMpc(
config: WrapConfig | None = None,
)

Bases: WrapBase

update_init_seed(seed) bool
solve(
goal: Goal,
seed: State | None = None,
shift_steps=1,
)
_shift(act_seq, shift_steps=1)
reset()
get_rollouts()
_get_rollout_instances_from_optimizers() List[RolloutBase]
get_all_rollout_instances() List[RolloutBase]
get_debug_cost()
get_debug_data()
get_init_act()
get_metrics(
state: State,
use_cuda_graph: bool = False,
) RolloutMetrics
property joint_names
property newton_optimizer: NewtonOptBase
optimize(
act_seq: Tensor,
shift_steps: int = 0,
) Tensor
property particle_optimizer: ParticleOptBase
reset_cuda_graph()
reset_seed()
reset_shape()
property rollout_fn
update_nproblems(n_problems)
update_params(
goal: Goal,
)
safety_rollout: RolloutBase
optimizers: List[Optimizer]
compute_metrics: bool
use_cuda_graph_metrics: bool
sync_cuda_time: bool