fastdev.robo.curobo_utils
=========================

.. py:module:: fastdev.robo.curobo_utils

.. autoapi-nested-parse::

   1. Fix a tensor contiguous issue in curobo 0.7.4
   2. Speed up CudaRobotGenerator with a large number of spheres without collision checking

   Maybe consider submitting a PR to curobo to fix the issue.







Module Contents
---------------

.. py:class:: CustomKinematicsFusedFunction

   Bases: :py:obj:`curobo.curobolib.kinematics.KinematicsFusedFunction`


   .. py:method:: backward(ctx, grad_out_link_pos, grad_out_link_quat, grad_out_spheres)
      :staticmethod:



.. py:function:: custom_get_cuda_kinematics(link_pos_seq, link_quat_seq, batch_robot_spheres, global_cumul_mat, q_in, fixed_transform, link_spheres_tensor, link_map, joint_map, joint_map_type, store_link_map, link_sphere_idx_map, link_chain_map, joint_offset_map, grad_out_q, use_global_cumul: bool = True)

.. py:class:: CustomCudaRobotGenerator

   Bases: :py:obj:`curobo.cuda_robot_model.cuda_robot_generator.CudaRobotGenerator`


.. py:class:: CustomCudaRobotModelConfig

   Bases: :py:obj:`curobo.cuda_robot_model.cuda_robot_model.CudaRobotModelConfig`


   .. py:method:: from_config(config: curobo.cuda_robot_model.cuda_robot_generator.CudaRobotGeneratorConfig) -> curobo.cuda_robot_model.cuda_robot_model.CudaRobotModelConfig
      :staticmethod:


      Create a robot model configuration from a generator configuration.

      :param config: Input robot generator configuration.

      :returns: robot model configuration.
      :rtype: CudaRobotModelConfig



.. py:class:: CustomCudaRobotModel

   Bases: :py:obj:`curobo.cuda_robot_model.cuda_robot_model.CudaRobotModel`