hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

constrained planning, robot segmentation

Browse Source
This commit is contained in:
Balakumar Sundaralingam
2024-02-22 21:45:47 -08:00
parent 88eac64edc
commit bafdf80c05
102 changed files with 12440 additions and 8112 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/curobo/wrap/wrap_base.py
View File

@@ -54,7 +54,7 @@ class WrapBase(WrapConfig):
def __init__(self, config: Optional[WrapConfig] = None):
if config is not None:
WrapConfig.__init__(self, **vars(config))
self.n_envs = 1
self.n_problems = 1
self.opt_dt = 0
self._rollout_list = None
self._opt_rollouts = None
@@ -83,11 +83,11 @@ class WrapBase(WrapConfig):
debug_list.append(opt.debug_cost)
return debug_list
def update_nenvs(self, n_envs):
if n_envs != self.n_envs:
self.n_envs = n_envs
def update_nproblems(self, n_problems):
if n_problems != self.n_problems:
self.n_problems = n_problems
for opt in self.optimizers:
opt.update_nenvs(self.n_envs)
opt.update_nproblems(self.n_problems)
def update_params(self, goal: Goal):
with profiler.record_function("wrap_base/safety/update_params"):
@@ -117,6 +117,12 @@ class WrapBase(WrapConfig):
opt.reset_cuda_graph()
self._init_solver = False
def reset_shape(self):
self.safety_rollout.reset_shape()
for opt in self.optimizers:
opt.reset_shape()
self._init_solver = False
@property
def rollout_fn(self):
return self.safety_rollout