Style Guide

cuRobo follows the Google Python Style Guide.

In addition, the following principles are also followed:

• Avoid inheriting from configuration dataclasses and instead set MainClass.config during

initialization. - Avoid instantiaing main classes inside a configuration dataclass. - Use @get_torch_jit_decorator to decorate methods that are used in JIT compiled functions. - Make jit functions be part of the class using @staticmethod and @get_torch_jit_decorator, and

name them as jit_<function_name>.

Dataclass as Configuration Class:

Many classes in cuRobo use dataclasses to store configuration parameters. Current implementation moves the parameters to torch tensors in the __post_init__ method. The alternative is to initialize the torch tensors as private variables in the dataclass. We are leaving this for a future PR as we are unsure of the tradeoffs.