curobo.curobolib package¶
cuRoboLib module contains CUDA implementations (kernels) of robotics algorithms, wrapped in C++, and compiled with PyTorch for use in Python.
All implementations are in .cu files in cpp sub-directory.
Submodules¶
- curobo.curobolib.geom module
get_self_collision_distanceSelfCollisionDistanceSelfCollisionDistance.forwardSelfCollisionDistance.backwardSelfCollisionDistance._backward_clsSelfCollisionDistance._get_compiled_autograd_symintsSelfCollisionDistance._is_compiled_autograd_tracingSelfCollisionDistance._materialize_non_diff_gradsSelfCollisionDistance._raw_saved_tensorsSelfCollisionDistance._register_hookSelfCollisionDistance._register_hook_dictSelfCollisionDistance._sequence_nrSelfCollisionDistance.applySelfCollisionDistance.dirty_tensorsSelfCollisionDistance.generate_vmap_ruleSelfCollisionDistance.is_traceableSelfCollisionDistance.jvpSelfCollisionDistance.mark_dirtySelfCollisionDistance.mark_non_differentiableSelfCollisionDistance.mark_shared_storageSelfCollisionDistance.materialize_gradsSelfCollisionDistance.maybe_clear_saved_tensorsSelfCollisionDistance.metadataSelfCollisionDistance.nameSelfCollisionDistance.needs_input_gradSelfCollisionDistance.next_functionsSelfCollisionDistance.non_differentiableSelfCollisionDistance.register_hookSelfCollisionDistance.register_prehookSelfCollisionDistance.requires_gradSelfCollisionDistance.save_for_backwardSelfCollisionDistance.save_for_forwardSelfCollisionDistance.saved_for_forwardSelfCollisionDistance.saved_tensorsSelfCollisionDistance.saved_variablesSelfCollisionDistance.set_materialize_gradsSelfCollisionDistance.setup_contextSelfCollisionDistance.to_saveSelfCollisionDistance.vjpSelfCollisionDistance.vmap
SelfCollisionDistanceLossSelfCollisionDistanceLoss.backwardSelfCollisionDistanceLoss._backward_clsSelfCollisionDistanceLoss._get_compiled_autograd_symintsSelfCollisionDistanceLoss._is_compiled_autograd_tracingSelfCollisionDistanceLoss._materialize_non_diff_gradsSelfCollisionDistanceLoss._raw_saved_tensorsSelfCollisionDistanceLoss._register_hookSelfCollisionDistanceLoss._register_hook_dictSelfCollisionDistanceLoss._sequence_nrSelfCollisionDistanceLoss.applySelfCollisionDistanceLoss.dirty_tensorsSelfCollisionDistanceLoss.forwardSelfCollisionDistanceLoss.generate_vmap_ruleSelfCollisionDistanceLoss.is_traceableSelfCollisionDistanceLoss.jvpSelfCollisionDistanceLoss.mark_dirtySelfCollisionDistanceLoss.mark_non_differentiableSelfCollisionDistanceLoss.mark_shared_storageSelfCollisionDistanceLoss.materialize_gradsSelfCollisionDistanceLoss.maybe_clear_saved_tensorsSelfCollisionDistanceLoss.metadataSelfCollisionDistanceLoss.nameSelfCollisionDistanceLoss.needs_input_gradSelfCollisionDistanceLoss.next_functionsSelfCollisionDistanceLoss.non_differentiableSelfCollisionDistanceLoss.register_hookSelfCollisionDistanceLoss.register_prehookSelfCollisionDistanceLoss.requires_gradSelfCollisionDistanceLoss.save_for_backwardSelfCollisionDistanceLoss.save_for_forwardSelfCollisionDistanceLoss.saved_for_forwardSelfCollisionDistanceLoss.saved_tensorsSelfCollisionDistanceLoss.saved_variablesSelfCollisionDistanceLoss.set_materialize_gradsSelfCollisionDistanceLoss.setup_contextSelfCollisionDistanceLoss.to_saveSelfCollisionDistanceLoss.vjpSelfCollisionDistanceLoss.vmap
get_pose_distanceget_pose_distance_backwardbackward_PoseError_jitbackward_full_PoseError_jitPoseErrorDistancePoseErrorDistance.forwardPoseErrorDistance.backwardPoseErrorDistance._backward_clsPoseErrorDistance._get_compiled_autograd_symintsPoseErrorDistance._is_compiled_autograd_tracingPoseErrorDistance._materialize_non_diff_gradsPoseErrorDistance._raw_saved_tensorsPoseErrorDistance._register_hookPoseErrorDistance._register_hook_dictPoseErrorDistance._sequence_nrPoseErrorDistance.applyPoseErrorDistance.dirty_tensorsPoseErrorDistance.generate_vmap_rulePoseErrorDistance.is_traceablePoseErrorDistance.jvpPoseErrorDistance.mark_dirtyPoseErrorDistance.mark_non_differentiablePoseErrorDistance.mark_shared_storagePoseErrorDistance.materialize_gradsPoseErrorDistance.maybe_clear_saved_tensorsPoseErrorDistance.metadataPoseErrorDistance.namePoseErrorDistance.needs_input_gradPoseErrorDistance.next_functionsPoseErrorDistance.non_differentiablePoseErrorDistance.register_hookPoseErrorDistance.register_prehookPoseErrorDistance.requires_gradPoseErrorDistance.save_for_backwardPoseErrorDistance.save_for_forwardPoseErrorDistance.saved_for_forwardPoseErrorDistance.saved_tensorsPoseErrorDistance.saved_variablesPoseErrorDistance.set_materialize_gradsPoseErrorDistance.setup_contextPoseErrorDistance.to_savePoseErrorDistance.vjpPoseErrorDistance.vmap
PoseErrorPoseError.forwardPoseError.backwardPoseError._backward_clsPoseError._get_compiled_autograd_symintsPoseError._is_compiled_autograd_tracingPoseError._materialize_non_diff_gradsPoseError._raw_saved_tensorsPoseError._register_hookPoseError._register_hook_dictPoseError._sequence_nrPoseError.applyPoseError.dirty_tensorsPoseError.generate_vmap_rulePoseError.is_traceablePoseError.jvpPoseError.mark_dirtyPoseError.mark_non_differentiablePoseError.mark_shared_storagePoseError.materialize_gradsPoseError.maybe_clear_saved_tensorsPoseError.metadataPoseError.namePoseError.needs_input_gradPoseError.next_functionsPoseError.non_differentiablePoseError.register_hookPoseError.register_prehookPoseError.requires_gradPoseError.save_for_backwardPoseError.save_for_forwardPoseError.saved_for_forwardPoseError.saved_tensorsPoseError.saved_variablesPoseError.set_materialize_gradsPoseError.setup_contextPoseError.to_savePoseError.vjpPoseError.vmap
SdfSphereOBBSdfSphereOBB.forwardSdfSphereOBB.backwardSdfSphereOBB._backward_clsSdfSphereOBB._get_compiled_autograd_symintsSdfSphereOBB._is_compiled_autograd_tracingSdfSphereOBB._materialize_non_diff_gradsSdfSphereOBB._raw_saved_tensorsSdfSphereOBB._register_hookSdfSphereOBB._register_hook_dictSdfSphereOBB._sequence_nrSdfSphereOBB.applySdfSphereOBB.dirty_tensorsSdfSphereOBB.generate_vmap_ruleSdfSphereOBB.is_traceableSdfSphereOBB.jvpSdfSphereOBB.mark_dirtySdfSphereOBB.mark_non_differentiableSdfSphereOBB.mark_shared_storageSdfSphereOBB.materialize_gradsSdfSphereOBB.maybe_clear_saved_tensorsSdfSphereOBB.metadataSdfSphereOBB.nameSdfSphereOBB.needs_input_gradSdfSphereOBB.next_functionsSdfSphereOBB.non_differentiableSdfSphereOBB.register_hookSdfSphereOBB.register_prehookSdfSphereOBB.requires_gradSdfSphereOBB.save_for_backwardSdfSphereOBB.save_for_forwardSdfSphereOBB.saved_for_forwardSdfSphereOBB.saved_tensorsSdfSphereOBB.saved_variablesSdfSphereOBB.set_materialize_gradsSdfSphereOBB.setup_contextSdfSphereOBB.to_saveSdfSphereOBB.vjpSdfSphereOBB.vmap
SdfSweptSphereOBBSdfSweptSphereOBB.forwardSdfSweptSphereOBB.backwardSdfSweptSphereOBB._backward_clsSdfSweptSphereOBB._get_compiled_autograd_symintsSdfSweptSphereOBB._is_compiled_autograd_tracingSdfSweptSphereOBB._materialize_non_diff_gradsSdfSweptSphereOBB._raw_saved_tensorsSdfSweptSphereOBB._register_hookSdfSweptSphereOBB._register_hook_dictSdfSweptSphereOBB._sequence_nrSdfSweptSphereOBB.applySdfSweptSphereOBB.dirty_tensorsSdfSweptSphereOBB.generate_vmap_ruleSdfSweptSphereOBB.is_traceableSdfSweptSphereOBB.jvpSdfSweptSphereOBB.mark_dirtySdfSweptSphereOBB.mark_non_differentiableSdfSweptSphereOBB.mark_shared_storageSdfSweptSphereOBB.materialize_gradsSdfSweptSphereOBB.maybe_clear_saved_tensorsSdfSweptSphereOBB.metadataSdfSweptSphereOBB.nameSdfSweptSphereOBB.needs_input_gradSdfSweptSphereOBB.next_functionsSdfSweptSphereOBB.non_differentiableSdfSweptSphereOBB.register_hookSdfSweptSphereOBB.register_prehookSdfSweptSphereOBB.requires_gradSdfSweptSphereOBB.save_for_backwardSdfSweptSphereOBB.save_for_forwardSdfSweptSphereOBB.saved_for_forwardSdfSweptSphereOBB.saved_tensorsSdfSweptSphereOBB.saved_variablesSdfSweptSphereOBB.set_materialize_gradsSdfSweptSphereOBB.setup_contextSdfSweptSphereOBB.to_saveSdfSweptSphereOBB.vjpSdfSweptSphereOBB.vmap
SdfSphereVoxelSdfSphereVoxel.forwardSdfSphereVoxel.backwardSdfSphereVoxel._backward_clsSdfSphereVoxel._get_compiled_autograd_symintsSdfSphereVoxel._is_compiled_autograd_tracingSdfSphereVoxel._materialize_non_diff_gradsSdfSphereVoxel._raw_saved_tensorsSdfSphereVoxel._register_hookSdfSphereVoxel._register_hook_dictSdfSphereVoxel._sequence_nrSdfSphereVoxel.applySdfSphereVoxel.dirty_tensorsSdfSphereVoxel.generate_vmap_ruleSdfSphereVoxel.is_traceableSdfSphereVoxel.jvpSdfSphereVoxel.mark_dirtySdfSphereVoxel.mark_non_differentiableSdfSphereVoxel.mark_shared_storageSdfSphereVoxel.materialize_gradsSdfSphereVoxel.maybe_clear_saved_tensorsSdfSphereVoxel.metadataSdfSphereVoxel.nameSdfSphereVoxel.needs_input_gradSdfSphereVoxel.next_functionsSdfSphereVoxel.non_differentiableSdfSphereVoxel.register_hookSdfSphereVoxel.register_prehookSdfSphereVoxel.requires_gradSdfSphereVoxel.save_for_backwardSdfSphereVoxel.save_for_forwardSdfSphereVoxel.saved_for_forwardSdfSphereVoxel.saved_tensorsSdfSphereVoxel.saved_variablesSdfSphereVoxel.set_materialize_gradsSdfSphereVoxel.setup_contextSdfSphereVoxel.to_saveSdfSphereVoxel.vjpSdfSphereVoxel.vmap
SdfSweptSphereVoxelSdfSweptSphereVoxel.forwardSdfSweptSphereVoxel.backwardSdfSweptSphereVoxel._backward_clsSdfSweptSphereVoxel._get_compiled_autograd_symintsSdfSweptSphereVoxel._is_compiled_autograd_tracingSdfSweptSphereVoxel._materialize_non_diff_gradsSdfSweptSphereVoxel._raw_saved_tensorsSdfSweptSphereVoxel._register_hookSdfSweptSphereVoxel._register_hook_dictSdfSweptSphereVoxel._sequence_nrSdfSweptSphereVoxel.applySdfSweptSphereVoxel.dirty_tensorsSdfSweptSphereVoxel.generate_vmap_ruleSdfSweptSphereVoxel.is_traceableSdfSweptSphereVoxel.jvpSdfSweptSphereVoxel.mark_dirtySdfSweptSphereVoxel.mark_non_differentiableSdfSweptSphereVoxel.mark_shared_storageSdfSweptSphereVoxel.materialize_gradsSdfSweptSphereVoxel.maybe_clear_saved_tensorsSdfSweptSphereVoxel.metadataSdfSweptSphereVoxel.nameSdfSweptSphereVoxel.needs_input_gradSdfSweptSphereVoxel.next_functionsSdfSweptSphereVoxel.non_differentiableSdfSweptSphereVoxel.register_hookSdfSweptSphereVoxel.register_prehookSdfSweptSphereVoxel.requires_gradSdfSweptSphereVoxel.save_for_backwardSdfSweptSphereVoxel.save_for_forwardSdfSweptSphereVoxel.saved_for_forwardSdfSweptSphereVoxel.saved_tensorsSdfSweptSphereVoxel.saved_variablesSdfSweptSphereVoxel.set_materialize_gradsSdfSweptSphereVoxel.setup_contextSdfSweptSphereVoxel.to_saveSdfSweptSphereVoxel.vjpSdfSweptSphereVoxel.vmap
- curobo.curobolib.geom_cu module
- curobo.curobolib.kinematics module
rotation_matrix_to_quaternionKinematicsFusedFunctionKinematicsFusedFunction.forwardKinematicsFusedFunction.backwardKinematicsFusedFunction._call_backward_cudaKinematicsFusedFunction._backward_clsKinematicsFusedFunction._get_compiled_autograd_symintsKinematicsFusedFunction._is_compiled_autograd_tracingKinematicsFusedFunction._materialize_non_diff_gradsKinematicsFusedFunction._raw_saved_tensorsKinematicsFusedFunction._register_hookKinematicsFusedFunction._register_hook_dictKinematicsFusedFunction._sequence_nrKinematicsFusedFunction.applyKinematicsFusedFunction.dirty_tensorsKinematicsFusedFunction.generate_vmap_ruleKinematicsFusedFunction.is_traceableKinematicsFusedFunction.jvpKinematicsFusedFunction.mark_dirtyKinematicsFusedFunction.mark_non_differentiableKinematicsFusedFunction.mark_shared_storageKinematicsFusedFunction.materialize_gradsKinematicsFusedFunction.maybe_clear_saved_tensorsKinematicsFusedFunction.metadataKinematicsFusedFunction.nameKinematicsFusedFunction.needs_input_gradKinematicsFusedFunction.next_functionsKinematicsFusedFunction.non_differentiableKinematicsFusedFunction.register_hookKinematicsFusedFunction.register_prehookKinematicsFusedFunction.requires_gradKinematicsFusedFunction.save_for_backwardKinematicsFusedFunction.save_for_forwardKinematicsFusedFunction.saved_for_forwardKinematicsFusedFunction.saved_tensorsKinematicsFusedFunction.saved_variablesKinematicsFusedFunction.set_materialize_gradsKinematicsFusedFunction.setup_contextKinematicsFusedFunction.to_saveKinematicsFusedFunction.vjpKinematicsFusedFunction.vmap
get_cuda_kinematics
- curobo.curobolib.kinematics_fused_cu module
- curobo.curobolib.lbfgs_step_cu module
- curobo.curobolib.line_search_cu module
- curobo.curobolib.ls module
- curobo.curobolib.opt module
LBFGScuLBFGScu.forwardLBFGScu.backwardLBFGScu._backward_clsLBFGScu._get_compiled_autograd_symintsLBFGScu._is_compiled_autograd_tracingLBFGScu._materialize_non_diff_gradsLBFGScu._raw_saved_tensorsLBFGScu._register_hookLBFGScu._register_hook_dictLBFGScu._sequence_nrLBFGScu.applyLBFGScu.dirty_tensorsLBFGScu.generate_vmap_ruleLBFGScu.is_traceableLBFGScu.jvpLBFGScu.mark_dirtyLBFGScu.mark_non_differentiableLBFGScu.mark_shared_storageLBFGScu.materialize_gradsLBFGScu.maybe_clear_saved_tensorsLBFGScu.metadataLBFGScu.nameLBFGScu.needs_input_gradLBFGScu.next_functionsLBFGScu.non_differentiableLBFGScu.register_hookLBFGScu.register_prehookLBFGScu.requires_gradLBFGScu.save_for_backwardLBFGScu.save_for_forwardLBFGScu.saved_for_forwardLBFGScu.saved_tensorsLBFGScu.saved_variablesLBFGScu.set_materialize_gradsLBFGScu.setup_contextLBFGScu.to_saveLBFGScu.vjpLBFGScu.vmap
- curobo.curobolib.tensor_step module
- curobo.curobolib.tensor_step_cu module
- curobo.curobolib.util_file module