├── .clangd ├── .gitattributes ├── .github └── ISSUE_TEMPLATE │ └── standard-template.md ├── .gitignore ├── CHANGELOG.md ├── CODEOWNERS ├── LICENSE ├── LICENSE_ASSETS ├── MANIFEST.in ├── README.md ├── benchmark ├── README.md ├── curobo_benchmark.py ├── curobo_nvblox_benchmark.py ├── curobo_nvblox_profile.py ├── curobo_profile.py ├── curobo_python_profile.py ├── curobo_voxel_benchmark.py ├── curobo_voxel_profile.py ├── generate_nvblox_images.py ├── ik_benchmark.py ├── kinematics_benchmark.py ├── metrics.py └── robometrics_benchmark.py ├── docker ├── .dockerignore ├── README.md ├── aarch64.dockerfile ├── base.dockerfile ├── build_dev_docker.sh ├── build_docker.sh ├── isaac_sim.dockerfile ├── start_dev_docker.sh ├── start_docker.sh ├── start_docker_aarch64.sh ├── start_docker_isaac_sim.sh ├── start_docker_isaac_sim_headless.sh ├── start_docker_x86.sh ├── start_user_docker.sh ├── user.dockerfile ├── user_isaac_sim.dockerfile └── x86.dockerfile ├── examples ├── collision_check_example.py ├── ik_example.py ├── isaac_sim │ ├── batch_collision_checker.py │ ├── batch_motion_gen_reacher.py │ ├── collision_checker.py │ ├── constrained_reacher.py │ ├── helper.py │ ├── ik_reachability.py │ ├── load_all_robots.py │ ├── motion_gen_reacher.py │ ├── motion_gen_reacher_nvblox.py │ ├── mpc_example.py │ ├── mpc_nvblox_example.py │ ├── multi_arm_reacher.py │ ├── realsense_collision.py │ ├── realsense_mpc.py │ ├── realsense_reacher.py │ ├── realsense_viewer.py │ ├── simple_stacking.py │ └── util │ │ ├── convert_urdf_to_usd.py │ │ └── dowload_assets.py ├── kinematics_example.py ├── mesh_dataset.py ├── motion_gen_api_example.py ├── motion_gen_example.py ├── motion_gen_profile.py ├── mpc_example.py ├── nvblox_example.py ├── pose_sequence_example.py ├── robot_image_segmentation_example.py ├── torch_layers_example.py ├── trajopt_example.py ├── usd_example.py └── world_representation_example.py ├── images ├── robot_demo.gif └── rrt_compare.gif ├── pyproject.toml ├── setup.cfg ├── setup.py ├── src └── curobo │ ├── __init__.py │ ├── content │ ├── assets │ │ ├── robot │ │ │ ├── franka_description │ │ │ │ ├── franka_panda.urdf │ │ │ │ ├── franka_panda_mobile.urdf │ │ │ │ ├── franka_panda_mobile_base.urdf │ │ │ │ ├── franka_panda_mobile_x.urdf │ │ │ │ ├── franka_panda_mobile_xy.urdf │ │ │ │ ├── franka_panda_mobile_xy_tz.urdf │ │ │ │ ├── franka_panda_no_gripper.urdf │ │ │ │ ├── franka_test.urdf │ │ │ │ ├── meshes │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── finger.obj │ │ │ │ │ │ ├── finger.stl │ │ │ │ │ │ ├── hand.obj │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ ├── hand_flipped.obj │ │ │ │ │ │ ├── hand_gripper.obj │ │ │ │ │ │ ├── hand_gripper.stl │ │ │ │ │ │ ├── hand_gripper_flipped.obj │ │ │ │ │ │ ├── link0.obj │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ ├── link1.obj │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ ├── link2.obj │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ ├── link3.obj │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ ├── link4.obj │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ ├── link5.obj │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ ├── link6.obj │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ ├── link7.obj │ │ │ │ │ │ └── link7.stl │ │ │ │ │ └── visual │ │ │ │ │ │ ├── finger.dae │ │ │ │ │ │ ├── finger.mtl │ │ │ │ │ │ ├── finger.obj │ │ │ │ │ │ ├── graspnet_panda_mesh.obj │ │ │ │ │ │ ├── hand.dae │ │ │ │ │ │ ├── hand.mtl │ │ │ │ │ │ ├── hand.obj │ │ │ │ │ │ ├── hand_ee_link.dae │ │ │ │ │ │ ├── hand_gripper.obj │ │ │ │ │ │ ├── hand_gripper.stl │ │ │ │ │ │ ├── link0.dae │ │ │ │ │ │ ├── link0.mtl │ │ │ │ │ │ ├── link0.obj │ │ │ │ │ │ ├── link0.obj.mtl │ │ │ │ │ │ ├── link1.dae │ │ │ │ │ │ ├── link1.mtl │ │ │ │ │ │ ├── link1.obj │ │ │ │ │ │ ├── link1.obj.mtl │ │ │ │ │ │ ├── link2.dae │ │ │ │ │ │ ├── link2.mtl │ │ │ │ │ │ ├── link2.obj │ │ │ │ │ │ ├── link2.obj.mtl │ │ │ │ │ │ ├── link3.dae │ │ │ │ │ │ ├── link3.mtl │ │ │ │ │ │ ├── link3.obj │ │ │ │ │ │ ├── link3.obj.mtl │ │ │ │ │ │ ├── link4.dae │ │ │ │ │ │ ├── link4.mtl │ │ │ │ │ │ ├── link4.obj │ │ │ │ │ │ ├── link4.obj.mtl │ │ │ │ │ │ ├── link5.dae │ │ │ │ │ │ ├── link5.mtl │ │ │ │ │ │ ├── link5.obj │ │ │ │ │ │ ├── link5.obj.mtl │ │ │ │ │ │ ├── link6.dae │ │ │ │ │ │ ├── link6.mtl │ │ │ │ │ │ ├── link6.obj │ │ │ │ │ │ ├── link6.obj.mtl │ │ │ │ │ │ ├── link7.dae │ │ │ │ │ │ ├── link7.mtl │ │ │ │ │ │ ├── link7.obj │ │ │ │ │ │ ├── link7.obj.mtl │ │ │ │ │ │ └── train_gripper.obj │ │ │ │ ├── moving_gripper.urdf │ │ │ │ ├── panda.urdf │ │ │ │ ├── panda_grasp_gripper.urdf │ │ │ │ └── panda_gripper.urdf │ │ │ ├── iiwa_allegro_description │ │ │ │ ├── allegro.urdf │ │ │ │ ├── iiwa.urdf │ │ │ │ ├── iiwa_allegro.urdf │ │ │ │ └── meshes │ │ │ │ │ ├── allegro │ │ │ │ │ ├── base_link.STL │ │ │ │ │ ├── base_link.obj │ │ │ │ │ ├── primary_base.obj │ │ │ │ │ ├── primary_base.stl │ │ │ │ │ ├── primary_medial.obj │ │ │ │ │ ├── primary_medial.stl │ │ │ │ │ ├── primary_proximal.obj │ │ │ │ │ ├── primary_proximal.stl │ │ │ │ │ ├── thumb_base.obj │ │ │ │ │ ├── thumb_base.stl │ │ │ │ │ ├── thumb_medial.obj │ │ │ │ │ ├── thumb_medial.stl │ │ │ │ │ ├── thumb_proximal.obj │ │ │ │ │ └── thumb_proximal.stl │ │ │ │ │ ├── biotac │ │ │ │ │ ├── biotac_sensor.obj │ │ │ │ │ ├── biotac_sensor.stl │ │ │ │ │ ├── biotac_sensor_thumb.obj │ │ │ │ │ └── biotac_sensor_thumb.stl │ │ │ │ │ ├── iiwa7 │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── link_0.obj │ │ │ │ │ │ ├── link_1.obj │ │ │ │ │ │ ├── link_2.obj │ │ │ │ │ │ ├── link_3.obj │ │ │ │ │ │ ├── link_4.obj │ │ │ │ │ │ ├── link_5.obj │ │ │ │ │ │ ├── link_6.obj │ │ │ │ │ │ └── link_7.obj │ │ │ │ │ └── visual │ │ │ │ │ │ ├── link_0.obj │ │ │ │ │ │ ├── link_1.obj │ │ │ │ │ │ ├── link_2.obj │ │ │ │ │ │ ├── link_3.obj │ │ │ │ │ │ ├── link_4.obj │ │ │ │ │ │ ├── link_5.obj │ │ │ │ │ │ ├── link_6.obj │ │ │ │ │ │ └── link_7.obj │ │ │ │ │ └── mounts │ │ │ │ │ ├── allegro_mount.obj │ │ │ │ │ └── allegro_mount.stl │ │ │ ├── jaco │ │ │ │ ├── jaco_7n.urdf │ │ │ │ ├── jaco_7s.urdf │ │ │ │ └── meshes │ │ │ │ │ ├── arm.dae │ │ │ │ │ ├── arm_half_1.dae │ │ │ │ │ ├── arm_half_2.dae │ │ │ │ │ ├── arm_mico.dae │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── finger_distal.dae │ │ │ │ │ ├── finger_proximal.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── forearm_mico.dae │ │ │ │ │ ├── hand_2finger.dae │ │ │ │ │ ├── hand_3finger.dae │ │ │ │ │ ├── ring_big.dae │ │ │ │ │ ├── ring_small.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── wrist.dae │ │ │ │ │ ├── wrist_spherical_1.dae │ │ │ │ │ └── wrist_spherical_2.dae │ │ │ ├── kinova │ │ │ │ ├── README.md │ │ │ │ ├── kinova_gen3_7dof.urdf │ │ │ │ └── kortex_description │ │ │ │ │ ├── arms │ │ │ │ │ └── gen3 │ │ │ │ │ │ └── 7dof │ │ │ │ │ │ └── meshes │ │ │ │ │ │ ├── base_link.STL │ │ │ │ │ │ ├── bracelet_no_vision_link.STL │ │ │ │ │ │ ├── bracelet_with_vision_link.STL │ │ │ │ │ │ ├── end_effector_link.STL │ │ │ │ │ │ ├── forearm_link.STL │ │ │ │ │ │ ├── half_arm_1_link.STL │ │ │ │ │ │ ├── half_arm_2_link.STL │ │ │ │ │ │ ├── shoulder_link.STL │ │ │ │ │ │ ├── spherical_wrist_1_link.STL │ │ │ │ │ │ └── spherical_wrist_2_link.STL │ │ │ │ │ └── grippers │ │ │ │ │ ├── robotiq_2f_140 │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ └── meshes │ │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ │ │ │ └── visual │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ │ │ └── robotiq_2f_85 │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ └── meshes │ │ │ │ │ ├── collision │ │ │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ │ └── robotiq_arg2f_base_link.stl │ │ │ │ │ └── visual │ │ │ │ │ ├── robotiq_arg2f_85_base_link.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_pad.dae │ │ │ │ │ └── robotiq_gripper_coupling.stl │ │ │ ├── simple │ │ │ │ └── simple_mimic_robot.urdf │ │ │ ├── techman │ │ │ │ └── tm_description │ │ │ │ │ ├── meshes │ │ │ │ │ ├── tm12 │ │ │ │ │ │ ├── collision │ │ │ │ │ │ │ ├── tm12-arm1_c.stl │ │ │ │ │ │ │ ├── tm12-arm2_c.stl │ │ │ │ │ │ │ ├── tm12-base_c.stl │ │ │ │ │ │ │ └── tmr_750w_01_c.stl │ │ │ │ │ │ └── visual │ │ │ │ │ │ │ ├── tm12-arm1.mtl │ │ │ │ │ │ │ ├── tm12-arm1.obj │ │ │ │ │ │ │ ├── tm12-arm1.stl │ │ │ │ │ │ │ ├── tm12-arm2.mtl │ │ │ │ │ │ │ ├── tm12-arm2.obj │ │ │ │ │ │ │ ├── tm12-arm2.stl │ │ │ │ │ │ │ ├── tm12-base.mtl │ │ │ │ │ │ │ ├── tm12-base.obj │ │ │ │ │ │ │ ├── tm12-base.stl │ │ │ │ │ │ │ ├── tmr_750w_01.mtl │ │ │ │ │ │ │ ├── tmr_750w_01.obj │ │ │ │ │ │ │ └── tmr_750w_01.stl │ │ │ │ │ └── tm5-900 │ │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── tm5-900_arm1_c.stl │ │ │ │ │ │ ├── tm5-900_arm2_c.stl │ │ │ │ │ │ ├── tm5-base_c.stl │ │ │ │ │ │ ├── tmr_100w_01_c.stl │ │ │ │ │ │ ├── tmr_100w_02_c.stl │ │ │ │ │ │ ├── tmr_400w_01_c.stl │ │ │ │ │ │ ├── tmr_ee_c.stl │ │ │ │ │ │ └── tmr_iox_c.stl │ │ │ │ │ │ └── visual │ │ │ │ │ │ ├── tm5-900_arm1.mtl │ │ │ │ │ │ ├── tm5-900_arm1.obj │ │ │ │ │ │ ├── tm5-900_arm1.stl │ │ │ │ │ │ ├── tm5-900_arm2.mtl │ │ │ │ │ │ ├── tm5-900_arm2.obj │ │ │ │ │ │ ├── tm5-900_arm2.stl │ │ │ │ │ │ ├── tm5-base.mtl │ │ │ │ │ │ ├── tm5-base.obj │ │ │ │ │ │ ├── tm5-base.stl │ │ │ │ │ │ ├── tmr_100w_01.mtl │ │ │ │ │ │ ├── tmr_100w_01.obj │ │ │ │ │ │ ├── tmr_100w_01.stl │ │ │ │ │ │ ├── tmr_100w_02.mtl │ │ │ │ │ │ ├── tmr_100w_02.obj │ │ │ │ │ │ ├── tmr_100w_02.stl │ │ │ │ │ │ ├── tmr_400w_01.mtl │ │ │ │ │ │ ├── tmr_400w_01.obj │ │ │ │ │ │ ├── tmr_400w_01.stl │ │ │ │ │ │ ├── tmr_ee.mtl │ │ │ │ │ │ ├── tmr_ee.obj │ │ │ │ │ │ ├── tmr_ee.stl │ │ │ │ │ │ ├── tmr_iox.mtl │ │ │ │ │ │ ├── tmr_iox.obj │ │ │ │ │ │ └── tmr_iox.stl │ │ │ │ │ └── urdf │ │ │ │ │ ├── tm12-nominal.urdf │ │ │ │ │ └── tm12x-nominal.urdf │ │ │ └── ur_description │ │ │ │ ├── dual_ur10e.urdf │ │ │ │ ├── meshes │ │ │ │ ├── ur10e │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ ├── forearm.stl │ │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ │ └── wrist3.stl │ │ │ │ │ └── visual │ │ │ │ │ │ ├── base.dae │ │ │ │ │ │ ├── forearm.dae │ │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ │ └── wrist3.dae │ │ │ │ └── ur5e │ │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ │ ├── quad_ur10e.urdf │ │ │ │ ├── tri_ur10e.urdf │ │ │ │ ├── ur10e.urdf │ │ │ │ ├── ur5e.urdf │ │ │ │ └── ur5e_robotiq_2f_140.urdf │ │ └── scene │ │ │ └── nvblox │ │ │ ├── srl_ur10_bins.mtl │ │ │ ├── srl_ur10_bins.obj │ │ │ ├── srl_ur10_bins.zip │ │ │ └── srl_ur10_bins_color.png │ └── configs │ │ ├── robot │ │ ├── dual_ur10e.yml │ │ ├── franka.yml │ │ ├── franka_mobile.yml │ │ ├── iiwa.yml │ │ ├── iiwa_allegro.yml │ │ ├── isaac_sim_description │ │ │ ├── jaco_7s.yaml │ │ │ ├── tm12.yaml │ │ │ └── ur5e.yaml │ │ ├── jaco7.yml │ │ ├── kinova_gen3.yml │ │ ├── quad_ur10e.yml │ │ ├── simple_mimic_robot.yml │ │ ├── spheres │ │ │ ├── dual_ur10e.yml │ │ │ ├── franka.yml │ │ │ ├── franka_collision_mesh.yml │ │ │ ├── franka_mesh.yml │ │ │ ├── franka_mesh_inside.yml │ │ │ ├── franka_mesh_mb.yml │ │ │ ├── franka_real_robot.yml │ │ │ ├── iiwa_allegro.yml │ │ │ ├── kinova_gen3.yml │ │ │ ├── quad_ur10e.yml │ │ │ ├── single.yml │ │ │ └── ur10e.yml │ │ ├── template.yml │ │ ├── tm12.yml │ │ ├── tri_ur10e.yml │ │ ├── ur10e.xrdf │ │ ├── ur10e.yml │ │ ├── ur5e.yml │ │ └── ur5e_robotiq_2f_140.yml │ │ ├── task │ │ ├── base_cfg.yml │ │ ├── finetune_trajopt.yml │ │ ├── finetune_trajopt_slow.yml │ │ ├── gradient_ik.yml │ │ ├── gradient_ik_autotune.yml │ │ ├── gradient_mpc.yml │ │ ├── gradient_trajopt.yml │ │ ├── graph.yml │ │ ├── particle_ik.yml │ │ ├── particle_mpc.yml │ │ └── particle_trajopt.yml │ │ └── world │ │ ├── collision_base.yml │ │ ├── collision_cage.yml │ │ ├── collision_cubby.yml │ │ ├── collision_floor_plan.yml │ │ ├── collision_handover.yml │ │ ├── collision_mesh_scene.yml │ │ ├── collision_nvblox.yml │ │ ├── collision_nvblox_online.yml │ │ ├── collision_nvblox_ur10.yml │ │ ├── collision_pillar_wall.yml │ │ ├── collision_primitives_3d.yml │ │ ├── collision_table.yml │ │ ├── collision_test.yml │ │ ├── collision_thin_walls.yml │ │ └── collision_wall.yml │ ├── cuda_robot_model │ ├── __init__.py │ ├── cuda_robot_generator.py │ ├── cuda_robot_model.py │ ├── kinematics_parser.py │ ├── types.py │ ├── urdf_kinematics_parser.py │ ├── usd_kinematics_parser.py │ └── util.py │ ├── curobolib │ ├── __init__.py │ ├── cpp │ │ ├── check_cuda.h │ │ ├── cuda_precisions.h │ │ ├── geom_cuda.cpp │ │ ├── helper_math.h │ │ ├── kinematics_fused_cuda.cpp │ │ ├── kinematics_fused_kernel.cu │ │ ├── lbfgs_step_cuda.cpp │ │ ├── lbfgs_step_kernel.cu │ │ ├── line_search_cuda.cpp │ │ ├── line_search_kernel.cu │ │ ├── pose_distance_kernel.cu │ │ ├── self_collision_kernel.cu │ │ ├── sphere_obb_kernel.cu │ │ ├── tensor_step_cuda.cpp │ │ ├── tensor_step_kernel.cu │ │ └── update_best_kernel.cu │ ├── geom.py │ ├── kinematics.py │ ├── ls.py │ ├── opt.py │ ├── tensor_step.py │ └── util_file.py │ ├── geom │ ├── __init__.py │ ├── cv.py │ ├── sdf │ │ ├── __init__.py │ │ ├── sdf_grid.py │ │ ├── utils.py │ │ ├── warp_primitives.py │ │ ├── warp_sdf_fns.py │ │ ├── warp_sdf_fns_deprecated.py │ │ ├── world.py │ │ ├── world_blox.py │ │ ├── world_mesh.py │ │ └── world_voxel.py │ ├── sphere_fit.py │ ├── transform.py │ └── types.py │ ├── graph │ ├── __init__.py │ ├── graph_base.py │ ├── graph_nx.py │ └── prm.py │ ├── opt │ ├── __init__.py │ ├── newton │ │ ├── __init__.py │ │ ├── lbfgs.py │ │ └── newton_base.py │ ├── opt_base.py │ └── particle │ │ ├── __init__.py │ │ ├── parallel_es.py │ │ ├── parallel_mppi.py │ │ ├── particle_opt_base.py │ │ └── particle_opt_utils.py │ ├── py.typed │ ├── rollout │ ├── __init__.py │ ├── arm_base.py │ ├── arm_reacher.py │ ├── cost │ │ ├── __init__.py │ │ ├── bound_cost.py │ │ ├── cost_base.py │ │ ├── dist_cost.py │ │ ├── manipulability_cost.py │ │ ├── pose_cost.py │ │ ├── primitive_collision_cost.py │ │ ├── projected_dist_cost.py │ │ ├── self_collision_cost.py │ │ ├── stop_cost.py │ │ ├── straight_line_cost.py │ │ └── zero_cost.py │ ├── dynamics_model │ │ ├── __init__.py │ │ ├── integration_utils.py │ │ ├── kinematic_model.py │ │ ├── model_base.py │ │ └── tensor_step.py │ └── rollout_base.py │ ├── types │ ├── __init__.py │ ├── base.py │ ├── camera.py │ ├── enum.py │ ├── file_path.py │ ├── math.py │ ├── robot.py │ ├── state.py │ └── tensor.py │ ├── util │ ├── __init__.py │ ├── error_metrics.py │ ├── helpers.py │ ├── logger.py │ ├── metrics.py │ ├── sample_lib.py │ ├── state_filter.py │ ├── tensor_util.py │ ├── torch_utils.py │ ├── trajectory.py │ ├── usd_helper.py │ ├── warp.py │ ├── warp_interpolation.py │ └── xrdf_utils.py │ ├── util_file.py │ └── wrap │ ├── __init__.py │ ├── model │ ├── __init__.py │ ├── curobo_robot_world.py │ ├── robot_segmenter.py │ └── robot_world.py │ ├── reacher │ ├── __init__.py │ ├── evaluator.py │ ├── ik_solver.py │ ├── motion_gen.py │ ├── mpc.py │ ├── trajopt.py │ └── types.py │ ├── wrap_base.py │ └── wrap_mpc.py └── tests ├── __init__.py ├── conftest.py ├── cost_test.py ├── cuda_graph_test.py ├── cuda_robot_generator_test.py ├── curobo_robot_world_model_test.py ├── curobo_version_test.py ├── geom_test.py ├── geom_types_test.py ├── goal_test.py ├── ik_config_test.py ├── ik_module_test.py ├── ik_test.py ├── interpolation_test.py ├── kinematics_parser_test.py ├── kinematics_test.py ├── mimic_joint_test.py ├── motion_gen_api_test.py ├── motion_gen_constrained_test.py ├── motion_gen_cuda_graph_test.py ├── motion_gen_eval_test.py ├── motion_gen_goalset_test.py ├── motion_gen_js_test.py ├── motion_gen_module_test.py ├── motion_gen_speed_test.py ├── motion_gen_test.py ├── mpc_test.py ├── multi_pose_test.py ├── nvblox_test.py ├── pose_reaching_test.py ├── pose_test.py ├── robot_assets_test.py ├── robot_config_test.py ├── robot_segmentation_test.py ├── robot_world_model_test.py ├── self_collision_test.py ├── trajopt_config_test.py ├── trajopt_test.py ├── usd_export_test.py ├── voxel_collision_test.py 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