curobo

Name: curobo
Author: graph-robots

26stars4forks

How to install curobo?

graph-robots/open-robot-skills/curobo

$npx -y skills add graph-robots/open-robot-skills --skill curobo

Installs into the current project.

Summary

NVIDIA cuRobo motion planning — collision-free trajectories to

Files · 1

View on GitHub

SKILL.md

1	# curobo
2
3	Collision-aware cuRobo motion planning as in-process tools. Trajectories
4	in/out are gap `Trajectory` dicts (`waypoints: [{positions:
5	float64[dof]}]`); worlds are gap `WorldConfig` dicts (build one with
6	`geometry.build_world_config`).
7
8	## When to use
9
10	- Tabletop pick: `geometry.top_down_grasp_candidates` →
11	`curobo.plan_to_grasp_poses` (pass the whole fan as the goalset; check
12	`goalset_index` for which one was reached).
13	- Transport after grasping: `curobo.plan_with_grasped_object` with the
14	object's mesh name from `build_world_config`.
15	- Drawers/doors: `curobo.plan_grasp_motion` (approach → grasp → lift/pull
16	with gripper commands interleaved), or `curobo.plan_directed_linear` for
17	a pull along one axis with orientation locked.
18
19	## Install
20
21	cuRobo JIT-compiles CUDA extensions at install time — build isolation must
22	be off and `CUDA_HOME` must point at a toolkit matching your torch build:
23
24	```bash
25	export CUDA_HOME=/usr/local/cuda # toolkit matching torch's CUDA version
26	uv sync --extra curobo # (pip: pip install -e ".[curobo]" --no-build-isolation)
27	```
28
29	If the import fails at tool-call time the tools raise a `ToolError` with
30	this recipe. First planner call per process pays JIT/warmup latency; the
31	MotionGen/planner instances are cached and reused (HyRL pattern — recreating
32	them per call corrupts CUDA graph state).
33
34	## Gotchas (carried over from the service + curobo_api)
35
36	- Frames: grasp/target poses are in the robot-base frame (cuRobo treats
37	the robot base as world origin). With `grasp_pose_is_fingertip=True`
38	(default) grasp positions are fingertip-pad centers and converted to the
39	`panda_hand` frame solver-side (offset 0.1029 m along hand Z).
40	- Ignore the grasp target: pass its mesh name in
41	`ignore_obstacle_names` for `plan_to_grasp_poses` /
42	`batch_grasp_feasibility` — closing on the target is not a collision.
43	- `robot_collision_sphere_buffer` default −0.01 shrinks robot collision
44	spheres 1 cm; reduces IK_FAIL against dense perception meshes. Negative
45	is intentional.
46	- GPU access is serialised by a module lock (cuRobo is not thread-safe);
47	CUDA/"graph capture" errors invalidate the cached planners automatically
48	before raising `PlanningFailed`.
49	- `use_cuda_graph` must stay False for the validators
50	(`check_start_state` requirement) and for varying world/start setups.
51	- curobo version split: `plan_to_grasp_poses`, `plan_grasp_motion`,
52	`plan_directed_linear`, `plan_linear`, `plan_to_pose`,
53	`plan_with_grasped_object` target curobo v0.8 (MotionPlanner API);
54	`solve_ik` and `batch_grasp_feasibility` are built on the v0.7
55	IKSolver API that v0.8 removed — on a v0.8-only install they raise
56	`PlanningFailed` ("not supported on cuRobo v0.8"); plan via the goalset
57	tools instead. The validators use the v0.7 MotionGen path too.
58	- `validate_joint_trajectory_grasped` always invalidates the planner cache
59	afterward so the attachment cannot leak; expect the next planning call to
60	re-create the planner.
61	- Planning failures return `success=False` (with `failure_reason` where the
62	RPC had one); infrastructure errors raise `PlanningFailed` / `ToolError`.
63	- Set `debug_out_dir` on the grasp/transport planners to dump world + robot
64	sphere OBJ/PLY debug artifacts on failure (default `./curobo_debug*`).

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curobo

26stars4forks

View on GitHub

How to install curobo?

graph-robots/open-robot-skills/curobo

$npx -y skills add graph-robots/open-robot-skills --skill curobo

Installs into the current project.

Summary

NVIDIA cuRobo motion planning — collision-free trajectories to

Files · 1

View on GitHub

SKILL.md

1	# curobo
2
3	Collision-aware cuRobo motion planning as in-process tools. Trajectories
4	in/out are gap `Trajectory` dicts (`waypoints: [{positions:
5	float64[dof]}]`); worlds are gap `WorldConfig` dicts (build one with
6	`geometry.build_world_config`).
7
8	## When to use
9
10	- Tabletop pick: `geometry.top_down_grasp_candidates` →
11	`curobo.plan_to_grasp_poses` (pass the whole fan as the goalset; check
12	`goalset_index` for which one was reached).
13	- Transport after grasping: `curobo.plan_with_grasped_object` with the
14	object's mesh name from `build_world_config`.
15	- Drawers/doors: `curobo.plan_grasp_motion` (approach → grasp → lift/pull
16	with gripper commands interleaved), or `curobo.plan_directed_linear` for
17	a pull along one axis with orientation locked.
18
19	## Install
20
21	cuRobo JIT-compiles CUDA extensions at install time — build isolation must
22	be off and `CUDA_HOME` must point at a toolkit matching your torch build:
23
24	```bash
25	export CUDA_HOME=/usr/local/cuda # toolkit matching torch's CUDA version
26	uv sync --extra curobo # (pip: pip install -e ".[curobo]" --no-build-isolation)
27	```
28
29	If the import fails at tool-call time the tools raise a `ToolError` with
30	this recipe. First planner call per process pays JIT/warmup latency; the
31	MotionGen/planner instances are cached and reused (HyRL pattern — recreating
32	them per call corrupts CUDA graph state).
33
34	## Gotchas (carried over from the service + curobo_api)
35
36	- Frames: grasp/target poses are in the robot-base frame (cuRobo treats
37	the robot base as world origin). With `grasp_pose_is_fingertip=True`
38	(default) grasp positions are fingertip-pad centers and converted to the
39	`panda_hand` frame solver-side (offset 0.1029 m along hand Z).
40	- Ignore the grasp target: pass its mesh name in
41	`ignore_obstacle_names` for `plan_to_grasp_poses` /
42	`batch_grasp_feasibility` — closing on the target is not a collision.
43	- `robot_collision_sphere_buffer` default −0.01 shrinks robot collision
44	spheres 1 cm; reduces IK_FAIL against dense perception meshes. Negative
45	is intentional.
46	- GPU access is serialised by a module lock (cuRobo is not thread-safe);
47	CUDA/"graph capture" errors invalidate the cached planners automatically
48	before raising `PlanningFailed`.
49	- `use_cuda_graph` must stay False for the validators
50	(`check_start_state` requirement) and for varying world/start setups.
51	- curobo version split: `plan_to_grasp_poses`, `plan_grasp_motion`,
52	`plan_directed_linear`, `plan_linear`, `plan_to_pose`,
53	`plan_with_grasped_object` target curobo v0.8 (MotionPlanner API);
54	`solve_ik` and `batch_grasp_feasibility` are built on the v0.7
55	IKSolver API that v0.8 removed — on a v0.8-only install they raise
56	`PlanningFailed` ("not supported on cuRobo v0.8"); plan via the goalset
57	tools instead. The validators use the v0.7 MotionGen path too.
58	- `validate_joint_trajectory_grasped` always invalidates the planner cache
59	afterward so the attachment cannot leak; expect the next planning call to
60	re-create the planner.
61	- Planning failures return `success=False` (with `failure_reason` where the
62	RPC had one); infrastructure errors raise `PlanningFailed` / `ToolError`.
63	- Set `debug_out_dir` on the grasp/transport planners to dump world + robot
64	sphere OBJ/PLY debug artifacts on failure (default `./curobo_debug*`).

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