API Reference

GRiD exposes the following Python interfaces:

• grid_rbd is the Python package users actually call: register_robot(...) → cached per-robot .so → numpy / JAX / torch handles.

• RBDReference contains CPU reference rigid-body dynamics and kinematics algorithms used for validation.

• URDFParser parses robot descriptions into the internal model consumed by the reference algorithms and code generator.

• GRiD’s code generator emits CUDA C++ headers, host wrappers, shared-memory layouts, and generated helper APIs.

Start with grid_rbd (Python bindings) to call GRiD from Python, GRiD’s code generator when you want to generate CUDA, RBDReference when you want Python reference values, and URDFParser when you need to inspect or debug parsed robot topology.

• grid_rbd (Python bindings)
  • Registration
  • The numpy handle
  • JAX and torch handles
• RBDReference
  • Quick start
  • Dynamics and derivatives
  • Kinematics, centroidal quantities and energy
  • State operations and plant
  • Source and validation
• URDFParser
  • Usage
  • Supported joint types
  • Parse options and errors
  • Installation
  • Robot API
  • Joint API
  • Link API
• GRiD’s code generator
  • Python entry points
  • Generated CUDA layers
  • Extending and validating the generator