improved joint space planning

src/curobo/util/torch_utils.py

@@ -10,6 +10,8 @@
 #
 # Standard Library
 import os
+from functools import lru_cache
+from typing import Optional
 
 # Third Party
 import torch
@@ -148,5 +150,20 @@ def get_torch_jit_decorator(
         return empty_decorator
 
 
+def is_lru_cache_avaiable():
+    use_lru_cache = os.environ.get("CUROBO_USE_LRU_CACHE")
+    if use_lru_cache is not None:
+        return bool(int(use_lru_cache))
+    log_info("Environment variable for CUROBO_USE_LRU_CACHE is not set, Enabling as default.")
+    return False
+
+
+def get_cache_fn_decorator(maxsize: Optional[int] = None):
+    if is_lru_cache_avaiable():
+        return lru_cache(maxsize=maxsize)
+    else:
+        return empty_decorator
+
+
 def empty_decorator(function):
     return function