From d385ed948365db637a3b5920b9b5c1e037362655 Mon Sep 17 00:00:00 2001 From: Nikolaus Correll Date: Wed, 15 Jul 2026 10:37:21 -0600 Subject: [PATCH 1/3] :sparkles: Bump h12_ros2_controller: selectable OMPL/cuRobo planner backend Point the submodule at feature/curobo (78ab39e), which adds a selectable joint-space planning backend: OMPL by default, cuRobo on a CUDA GPU, with 'auto' falling back to OMPL so the headless CPU sim keeps working. Co-Authored-By: Claude Opus 4.8 (1M context) --- core_ws/src/h12_ros2_controller | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/core_ws/src/h12_ros2_controller b/core_ws/src/h12_ros2_controller index 9f44eb3..78ab39e 160000 --- a/core_ws/src/h12_ros2_controller +++ b/core_ws/src/h12_ros2_controller @@ -1 +1 @@ -Subproject commit 9f44eb3028b2233bcb11baeebeb64dd5d8cdbda5 +Subproject commit 78ab39e4e02af506610e7265c2c598bf94334dad From e2d0416fc543e5d527ac1b03bd42943f4b214fe7 Mon Sep 17 00:00:00 2001 From: Nikolaus Correll Date: Wed, 15 Jul 2026 12:57:10 -0600 Subject: [PATCH 2/3] :sparkles: Bump h12_ros2_controller: cuRobo robot config for the arms Point the submodule at feature/curobo (509d4b6), which adds the generated cuRobo robot_cfg (collision spheres + cspace) and its generator. Co-Authored-By: Claude Opus 4.8 (1M context) --- core_ws/src/h12_ros2_controller | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/core_ws/src/h12_ros2_controller b/core_ws/src/h12_ros2_controller index 78ab39e..509d4b6 160000 --- a/core_ws/src/h12_ros2_controller +++ b/core_ws/src/h12_ros2_controller @@ -1 +1 @@ -Subproject commit 78ab39e4e02af506610e7265c2c598bf94334dad +Subproject commit 509d4b612ee76fe0ebf5e809bf2ac03dd084125a From 69b40aa2d478264f3ee7c5a2c1219dbfb798812f Mon Sep 17 00:00:00 2001 From: Nikolaus Correll Date: Wed, 15 Jul 2026 13:10:40 -0600 Subject: [PATCH 3/3] :white_check_mark: Bump h12_ros2_controller: cuRobo smoke test Co-Authored-By: Claude Opus 4.8 (1M context) --- core_ws/src/h12_ros2_controller | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/core_ws/src/h12_ros2_controller b/core_ws/src/h12_ros2_controller index 509d4b6..eeab994 160000 --- a/core_ws/src/h12_ros2_controller +++ b/core_ws/src/h12_ros2_controller @@ -1 +1 @@ -Subproject commit 509d4b612ee76fe0ebf5e809bf2ac03dd084125a +Subproject commit eeab9942726fb8923bb4915169f5aa2e0cea96bb