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✨ Bump h12_ros2_controller: selectable OMPL/cuRobo planner backend #6

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✨ Bump h12_ros2_controller: selectable OMPL/cuRobo planner backend #6

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d385ed9
:sparkles: Bump h12_ros2_controller: selectable OMPL/cuRobo planner b…
curobotlab Jul 15, 2026
e2d0416
:sparkles: Bump h12_ros2_controller: cuRobo robot config for the arms
curobotlab Jul 15, 2026
69b40aa
:white_check_mark: Bump h12_ros2_controller: cuRobo smoke test
curobotlab Jul 15, 2026
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2 changes: 1 addition & 1 deletion core_ws/src/h12_ros2_controller
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Submodule h12_ros2_controller updated 82 files
+10 −1 .github/workflows/sync-dev-to-main.yml
+10 −1 .github/workflows/sync-main-to-dev.yml
+0 −0 archive/ik_tests/README.md
+0 −0 archive/ik_tests/__init__.py
+0 −0 archive/ik_tests/analyze_deep.py
+0 −0 archive/ik_tests/configs/minimal.yaml
+0 −0 archive/ik_tests/configs/sweep.yaml
+0 −0 archive/ik_tests/configs/sweep_tilt.yaml
+9 −8 archive/ik_tests/ik_eval.py
+0 −0 archive/ik_tests/ik_eval_server.py
+2 −2 archive/ik_tests/ik_feasibility.py
+0 −0 archive/ik_tests/plot.py
+0 −0 archive/ik_tests/plot_drift.py
+1 −1 archive/ik_tests/plot_ik_eval.py
+0 −0 archive/ik_tests/results.md
+186 −0 config/curobo/gen_curobo_cfg.py
+180 −0 config/curobo/h1_2_handless_curobo.yml
+137 −0 config/curobo/smoke_test_curobo.py
+81 −34 config/debug.yaml
+64 −33 config/safety_full.yaml
+64 −33 config/safety_split.yaml
+65 −19 config/sim_safety_split.yaml
+64 −33 config/sport.yaml
+ − data/compare_planner/generated_grasps.npy
+ − data/h12_configuration.npy
+1 −0 environment.yml
+2 −2 h12_ros2_controller/benchmark/ik_benchmark.py
+3 −2 h12_ros2_controller/benchmark/solver_benchmark.py
+3 −2 h12_ros2_controller/benchmark/time_benchmark.py
+1 −2 h12_ros2_controller/core/channel_interface.py
+2 −0 h12_ros2_controller/core/controller/arm_controller.py
+2 −0 h12_ros2_controller/core/controller/frame_controller.py
+2 −0 h12_ros2_controller/core/controller/gravity_comp_controller.py
+2 −0 h12_ros2_controller/core/controller/impedance_controller.py
+250 −27 h12_ros2_controller/core/controller/upper_controller.py
+291 −69 h12_ros2_controller/core/ik_solver.py
+1 −0 h12_ros2_controller/core/low_cmd_handler.py
+24 −0 h12_ros2_controller/core/planner/__init__.py
+86 −0 h12_ros2_controller/core/planner/backend.py
+309 −0 h12_ros2_controller/core/planner/curobo_planner.py
+187 −0 h12_ros2_controller/core/planner/planner_process.py
+53 −0 h12_ros2_controller/core/planner/planner_types.py
+544 −0 h12_ros2_controller/core/planner/reduced_joint_planner.py
+16 −146 h12_ros2_controller/core/robot_model.py
+317 −0 h12_ros2_controller/core/robot_visualizer.py
+3 −2 h12_ros2_controller/example/arm_controller_goto.py
+3 −2 h12_ros2_controller/example/arm_controller_gui.py
+3 −2 h12_ros2_controller/example/frame_controller_goto.py
+182 −0 h12_ros2_controller/example/frame_controller_plan_goto.py
+3 −2 h12_ros2_controller/example/frame_task_trajectory.py
+3 −2 h12_ros2_controller/example/gravity_compensation.py
+3 −2 h12_ros2_controller/example/hand_controller_gui.py
+28 −15 h12_ros2_controller/example/lock_and_goto.py
+2 −2 h12_ros2_controller/example/motor_debug_gui.py
+2 −2 h12_ros2_controller/example/motor_record.py
+3 −2 h12_ros2_controller/example/motor_viewer.py
+3 −2 h12_ros2_controller/example/motor_viewer_tui.py
+145 −0 h12_ros2_controller/example/planner_example.py
+3 −2 h12_ros2_controller/example/robot_record.py
+5 −4 h12_ros2_controller/example/robot_replay.py
+3 −2 h12_ros2_controller/example/robot_viewer.py
+3 −2 h12_ros2_controller/example/velocity_record.py
+3 −2 h12_ros2_controller/plot/plot_force_estimate.py
+32 −9 h12_ros2_controller/ros2/dual_arm_client.py
+281 −124 h12_ros2_controller/ros2/dual_arm_server.py
+33 −9 h12_ros2_controller/ros2/frame_task_client.py
+289 −119 h12_ros2_controller/ros2/frame_task_server.py
+7 −2 h12_ros2_controller/ros2/gravity_comp_server.py
+6 −2 h12_ros2_controller/ros2/hand_controller_node.py
+6 −2 h12_ros2_controller/ros2/joint_state_publisher.py
+36 −11 h12_ros2_controller/utility/controller_config.py
+0 −18 h12_ros2_controller/utility/dds_init.py
+2 −3 h12_ros2_controller/utility/joint_definition.py
+38 −10 h12_ros2_controller/utility/named_config.py
+6 −2 h12_ros2_controller/utility/topic_subscriber.py
+1 −0 pyproject.toml
+2 −0 requirements.txt
+1 −0 setup.py
+81 −0 test/test_controller_config.py
+162 −0 test/test_planner_backend.py
+242 −0 test/test_reduced_joint_planner.py
+25 −0 uv.lock