Dynamics#

  • plant.cuh — the shared, robot-agnostic plant adapter (dimensions from grid:: constants, dynamics + tracking-cost wrappers over the generated grid_plant:: surface).

  • <robot>/grid.cuh — generated by GRiD’s code generator from the pinned grid-rbd wheel (tools/regen_grid.py or gato.build).

  • <robot>/limits.cuh — joint/velocity/effort limit tables generated from the URDF <limit> tags alongside grid.cuh.

  • Vendored robots: indy7, iiwa14, go2, fr3, gen3, ur5e, each generated from examples/<robot>_description by tools/regen_grid.py (the README there records the source and the edits to the vendored URDF).

Each (plant, N) module compiles plant.cuh with the robot’s directory on the include path, so adding a robot is purely generative — no C++ edits.

  • integrator.cuh — the fixed-base step / gradient / integrator-error adapters and their honest scratch sizers.

  • grid_plant_step.cuh — the generated grid step twins: the floating base (SE(3)) and the multi-stage integrators (the rk4 variant on either base), including the contact-wrench (fc) composition.

  • cost_menu.cuh / com_term.cuh — the kernels’ views of the cost menu and the centre-of-mass term (the host classes live in bsqp/).

  • manifold.cuh — the floating-base state retract / difference (the SQP’s ⊞ / ⊟).