Minor fixes and geom module documentation

src/curobo/curobolib/__init__.py

@@ -8,4 +8,9 @@
 # without an express license agreement from NVIDIA CORPORATION or
 # its affiliates is strictly prohibited.
 #
-"""CuRoboLib Module."""
+"""
+cuRoboLib module contains CUDA implementations (kernels) of robotics algorithms, wrapped in
+C++, and compiled with PyTorch for use in Python.
+
+All implementations are in ``.cu`` files in ``cpp`` sub-directory.
+"""

src/curobo/curobolib/kinematics.py

@@ -24,7 +24,7 @@ except ImportError:
     from torch.utils.cpp_extension import load
 
     # CuRobo
-    from curobo.curobolib.util_file import add_cpp_path
+    from curobo.util_file import add_cpp_path
 
     kinematics_fused_cu = load(
         name="kinematics_fused_cu",

src/curobo/curobolib/ls.py

@@ -24,7 +24,7 @@ except ImportError:
     from torch.utils.cpp_extension import load
 
     # CuRobo
-    from curobo.curobolib.util_file import add_cpp_path
+    from curobo.util_file import add_cpp_path
 
     line_search_cu = load(
         name="line_search_cu",

src/curobo/curobolib/opt.py

@@ -24,7 +24,7 @@ except ImportError:
     from torch.utils.cpp_extension import load
 
     # CuRobo
-    from curobo.curobolib.util_file import add_cpp_path
+    from curobo.util_file import add_cpp_path
 
     lbfgs_step_cu = load(
         name="lbfgs_step_cu",

src/curobo/curobolib/tensor_step.py

@@ -23,7 +23,7 @@ except ImportError:
     from torch.utils.cpp_extension import load
 
     # CuRobo
-    from curobo.curobolib.util_file import add_cpp_path
+    from curobo.util_file import add_cpp_path
 
     log_warn("tensor_step_cu not found, jit compiling...")
     tensor_step_cu = load(

src/curobo/curobolib/util_file.py

@@ -8,27 +8,9 @@
 # without an express license agreement from NVIDIA CORPORATION or
 # its affiliates is strictly prohibited.
 #
-
+"""Deprecated, use functions from :mod:`curobo.util_file` instead."""
 # Standard Library
 import os
 
-
-def get_cpp_path():
-    path = os.path.dirname(__file__)
-    return os.path.join(path, "cpp")
-
-
-def join_path(path1, path2):
-    if isinstance(path2, str):
-        return os.path.join(path1, path2)
-    else:
-        return path2
-
-
-def add_cpp_path(sources):
-    cpp_path = get_cpp_path()
-    new_list = []
-    for s in sources:
-        s = join_path(cpp_path, s)
-        new_list.append(s)
-    return new_list
+# CuRobo
+from curobo.util_file import add_cpp_path, get_cpp_path, join_path