My questions are, how this will be wrapped? Will this be a MotionPolicyController like Lula RMPflow? Will we be able to easily choose between Lula or cuRobo? Everything in cuRobo will be available (constrained planning)?
Anything that can be shared on the directions that are being taken are very much appreciated!
I have similar questions as well, whether the cuMotion ROS2 wrapper also implemented Batched Collision-Free Inverse Kinematics and Model Predictive Control (MPC) with MPPI. Could you get an answer to this, please let me know.
Thank you!