fastdev.robo.curobo_utils

  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

class fastdev.robo.curobo_utils.CustomKinematicsFusedFunction[source]

Bases: curobo.curobolib.kinematics.KinematicsFusedFunction

static backward(ctx, grad_out_link_pos, grad_out_link_quat, grad_out_spheres)[source]
fastdev.robo.curobo_utils.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)[source]
Parameters:

use_global_cumul (bool)

class fastdev.robo.curobo_utils.CustomCudaRobotGenerator[source]

Bases: curobo.cuda_robot_model.cuda_robot_generator.CudaRobotGenerator

class fastdev.robo.curobo_utils.CustomCudaRobotModelConfig[source]

Bases: curobo.cuda_robot_model.cuda_robot_model.CudaRobotModelConfig

static from_config(config: curobo.cuda_robot_model.cuda_robot_generator.CudaRobotGeneratorConfig) → curobo.cuda_robot_model.cuda_robot_model.CudaRobotModelConfig[source]

Create a robot model configuration from a generator configuration.

Parameters:

config (curobo.cuda_robot_model.cuda_robot_generator.CudaRobotGeneratorConfig) – Input robot generator configuration.

Returns:

robot model configuration.

Return type:

CudaRobotModelConfig

class fastdev.robo.curobo_utils.CustomCudaRobotModel[source]

Bases: curobo.cuda_robot_model.cuda_robot_model.CudaRobotModel