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 instantiating main classes inside a configuration dataclass.

• Use @get_torch_jit_decorator to decorate methods used in JIT-compiled functions.

• Make JIT functions part of the class using @staticmethod and @get_torch_jit_decorator, and name them jit_<function_name>.

Configuration Dataclasses

Configuration dataclasses group the settings for a class. Store the configuration on MainClass.config. Initialize tensor-valued fields in __post_init__ when they depend on other settings, such as device or dtype.