feat(planner): integrate NVIDIA cuRobo V2#377
Draft
yuecideng wants to merge 7 commits into
Draft
Conversation
Add BasePlanner.preinterpolate_targets / preserve_plan_samples / default_plan_options / with_motion_context so MotionGenerator is capability-driven rather than special-casing NeuralPlanner. Neural and TOPPRA migrate to the new hooks; behavior is preserved. Co-Authored-By: Claude <noreply@anthropic.com>
Add CuroboRobotProfileCfg/CuroboWorldCfg/CuroboPlannerCfg/CuroboPlanOptions and pure helpers (_reorder_by_names, _matrix_to_position_quaternion, _validate_dynamic_obstacles, _require_curobo). The package exports the configs without importing curobo; construction triggers the lazy V2 import. Co-Authored-By: Claude <noreply@anthropic.com>
Implement CuroboPlanner.plan (pose + cspace), backend cache keyed by (control_part, batch_size, multi_env), segment chaining without resampling, failure/over-budget hold, dynamic obstacle updates, and close(). Add fake-binding unit tests (require CUDA) and an optional real V2 integration test skipped without cuRobo/CUDA. Includes the shared cuboid world asset. Co-Authored-By: Claude <noreply@anthropic.com>
ActionCfg validates motion_source/planner_type. TrajectoryBuilder dispatches by capability (preinterpolate_targets / preserve_plan_samples) with strict planner-type matching, result validation, and a new plan_joint_motion path. MoveJoints, PickUp, Place, Press allocate from returned phase lengths; Press returns via plan_joint_motion; PickUp skips the IK prefilter for cuRobo. Coordinated dual-arm primitives reject the cuRobo backend. Co-Authored-By: Claude <noreply@anthropic.com>
Harden batched V2 collision worlds and add the documented atomic-action demo with tests.
yuecideng
added
enhancement
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
This draft PR adds NVIDIA cuRobo V2 as an optional CUDA collision-aware motion-planning backend for EmbodiChain.
It adds:
Motivation: expose GPU-accelerated collision-aware planning through the existing robot, planner, motion-generator, and atomic-action abstractions.
Dependencies: NVIDIA cuRobo V2 is optional and must be installed in a CUDA/PyTorch-compatible environment. This PR adds no mandatory EmbodiChain dependency.
Type of change
Screenshots
The headless Panda demo can generate an MP4 recording when requested.
Draft note
The initial offscreen recorder samples wall time. Because simulation playback is very fast, a recording can appear nearly static even though trajectory generation and simulation execution are verified. Simulation-time recording is a follow-up before the PR is marked ready for review.
Checklist
black .command to format the code base.