Proposal
Update scripts/benchmark/motion_generation/planners/curobo.py to use cuRobo’s PoseCostMetric.create_grasp_approach_metric for grasp-approach planning. The approach offset, constrained axis, and activation timestep should be configurable through the planner options.
Replace the explicit grasp-approach xpos transition currently used by scripts/tutorials/atomic_action/pickup.py with a single constrained trajectory generated by cuRobo.
Motivation
The current pickup flow uses a hard-coded intermediate Cartesian pose to move from the pre-grasp pose to the grasp pose. This can produce an unnatural transition and requires manually constructing an additional waypoint.
cuRobo’s grasp-approach metric expresses this behavior directly within trajectory optimization. It can preserve the desired approach direction and orientation while generating a smoother, blended trajectory to the final grasp pose.
Additional context
See the official cuRobo documentation for [create_grasp_approach_metric](https://nvlabs.github.io/curobo/v0.7.6/advanced_examples/3_constrained_planning.html#grasp-approach-vector).
Checklist
Proposal
Update
scripts/benchmark/motion_generation/planners/curobo.pyto use cuRobo’sPoseCostMetric.create_grasp_approach_metricfor grasp-approach planning. The approach offset, constrained axis, and activation timestep should be configurable through the planner options.Replace the explicit grasp-approach
xpostransition currently used byscripts/tutorials/atomic_action/pickup.pywith a single constrained trajectory generated by cuRobo.Motivation
The current pickup flow uses a hard-coded intermediate Cartesian pose to move from the pre-grasp pose to the grasp pose. This can produce an unnatural transition and requires manually constructing an additional waypoint.
cuRobo’s grasp-approach metric expresses this behavior directly within trajectory optimization. It can preserve the desired approach direction and orientation while generating a smoother, blended trajectory to the final grasp pose.
Additional context
See the official cuRobo documentation for
[create_grasp_approach_metric](https://nvlabs.github.io/curobo/v0.7.6/advanced_examples/3_constrained_planning.html#grasp-approach-vector).Checklist