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Integrate cuRobo into action primitives & primitives refactoring #1027

Merged
merged 95 commits into from
Jan 24, 2025
Merged

Integrate cuRobo into action primitives & primitives refactoring #1027

merged 95 commits into from
Jan 24, 2025
+1,862 −1,097

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hang-yin
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@hang-yin hang-yin commented Nov 6, 2024 •
edited by ChengshuLi
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  • Replace OMPL planning context with cuRobo motion planning & collision checking
  • Implement cuRobo single IK solver for robot reachability test
  • Implement linear motion in cartesian space with cuRobo constrained planning
  • Generalize primitives to dual-arm settings
  • Investigate why cuRobo planning keeps failing if we do not do reset+gripper matching
  • Accommodate differential drive base planning (implement a light-weight RRT)
  • Potentially support flatcache with curobo (get_obstacle implementation)
tiago_primitives_demo.mov

@hang-yin hang-yin self-assigned this Nov 6, 2024
hang-yin added 17 commits November 7, 2024 16:23
@hang-yin
Fix grasp pose bug
519f5e5
@hang-yin
Primitives & curobo bug fixes - grasp mostly working
0fbefe7
@hang-yin
Refactor primitives and get grasp working
749d2cf
@hang-yin
Merge branch 'feat/curobo-improved' of https://github.com/StanfordVL/…
9f0e101 
…OmniGibson into feat/curobo-primitives
@hang-yin
Make primitives more robust and fast; add debug marker
c06029c
@hang-yin
Merge branch 'feat/curobo-improved' of https://github.com/StanfordVL/…
ced8693 
…OmniGibson into feat/curobo-primitives
@hang-yin
Adapt curobo primitives to Tiago; call curobo planning and collision …
c1b4986 
…checks in batched mode; generalize primitives to dual-arm setting
@hang-yin
Merge branch 'feat/curobo-improved' of https://github.com/StanfordVL/…
863f3b6 
…OmniGibson into feat/curobo-primitives
@hang-yin
Tune batch size to avoid gpu memory error
671db19
@hang-yin
Add integral term to joint controller
b3fd62b
@hang-yin
Move hand upwards by a little after grasp to avoid getting stuck
81647d3
@hang-yin
Merge branch 'feat/curobo-primitives' of https://github.com/StanfordV…
9e5c349 
…L/OmniGibson into feat/curobo-primitives
@hang-yin
Add reset robot for arms and torso
071baa3
@hang-yin
Fix head tracking
7ba8054
@hang-yin
Disable eef tracking by default; add low precision mode for motion pl…
6b8b670 
…an execution
@hang-yin
Merge branch 'feat/curobo-improved' of https://github.com/StanfordVL/…
08e9b14 
…OmniGibson into feat/curobo-primitives
@hang-yin
Support for arm setting
ec5d68b
@cgokmen cgokmen mentioned this pull request Nov 18, 2024
Closed
ChengshuLi and others added 21 commits January 15, 2025 12:52
@ChengshuLi
address comments
f50696e
@ChengshuLi
stick with robot.default_arm for primitive
2d6a69e
@ChengshuLi
remove unnecessary as_float32 in holonomic base joint controller
5e608a2
@ChengshuLi
address comments
e85848d
@ChengshuLi
address comments
7350d2a
@ChengshuLi
address comments
4c29f32
@ChengshuLi
address final comments
e9d328e
@ChengshuLi
fix robot test and curobo test
52e91af
@ChengshuLi
fix primitive test, factor out sample_grasp_pose
0bea80c
@ChengshuLi
reduce curobo batch size for primitive tests
d02eaf1
@ChengshuLi
fix T.align_vector_sets, minor fixes for curobo test and sampling utils
24dd194
@ChengshuLi
add gf_quat_to_torch
99d8b3c
@ChengshuLi
add local orientation and position for joint prim
f42dd11
@ChengshuLi
fix update_locked_joints with arbitrary joint state
311691e
@ChengshuLi
check world collision when checking reachability, minimize update_obs…
d79d2c0 
…tacles
@ChengshuLi
clean up intrinsic euler conversion, fix set pose and velocity bugs i…
13435ec 
…n holonomic base robot
@ChengshuLi
during placing, plan with open gripper to prepare for the subsequent …
4c97748 
…execute_release
@cgokmen
Use upload artifacts v4
10e7f39
@ChengshuLi
fix curobo commit hash, slightly improve primitive test
16adfbe
@ChengshuLi
Merge branch 'feat/curobo-primitives' of https://github.com/StanfordV…
1677925 
…L/iGibson3 into feat/curobo-primitives
@ChengshuLi
uncomment th.jit.script
bda9ea1
hang-yin
hang-yin commented Jan 24, 2025
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@ChengshuLi ChengshuLi enabled auto-merge January 24, 2025 20:49
@ChengshuLi ChengshuLi disabled auto-merge January 24, 2025 20:51
@ChengshuLi ChengshuLi merged commit c34b269 into og-develop Jan 24, 2025
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@ChengshuLi ChengshuLi deleted the feat/curobo-primitives branch January 24, 2025 20:56
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@ChengshuLi ChengshuLi ChengshuLi approved these changes

@cgokmen cgokmen Awaiting requested review from cgokmen

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@ChengshuLi ChengshuLi

@hang-yin hang-yin

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@hang-yin @ChengshuLi @cgokmen