curobo package¶

cuRobo provides accelerated modules for robotics which can be used to build high-performance robotics applications. The library has several modules for numerical optimization, robot kinematics, geometry processing, collision checking, graph search planning. cuRobo provides high-level APIs for performing tasks like collision-free inverse kinematics, model predictive control, and motion planning.

High-level APIs:

Motion Generation / Planning: curobo.wrap.reacher.motion_gen.
Inverse Kinematics: curobo.wrap.reacher.ik_solver.
Model Predictive Control: curobo.wrap.reacher.mpc.
Trajectory Optimization: curobo.wrap.reacher.trajopt.

cuRobo package is split into several modules:

curobo.opt contains optimization solvers.
curobo.cuda_robot_model contains robot kinematics.
curobo.curobolib contains the cuda kernels and python bindings for them.
curobo.geom contains geometry processing, collision checking and frame transforms.
curobo.graph contains geometric planning with graph search methods.
curobo.rollout contains methods that map actions to costs. This class wraps instances of curobo.cuda_robot_model and curobo.geom to compute costs given trajectory of actions.
curobo.util contains utility methods.
curobo.wrap adds the user-level api for task programming. Includes implementation of collision-free reacher and batched robot world collision checking.
curobo.types contains custom dataclasses for common data types in robotics, including JointState, CameraObservation, Pose.

curobo package¶

Subpackages¶

Submodules¶