Support Franka in atomic-action tutorials

[yuecideng]

Description

This PR adds selectable UR5 and Franka constructions across the atomic-action tutorials while preserving UR5 as the default. Franka uses the same DH_PGI_140_80 gripper contract as UR5, and tutorial motion generation now uses the cuRobo backend.

It also generalizes dual-arm assembly, initial orientation, solver-root lookup, and robot-independent waypoint construction, and adds focused coverage for single- and dual-arm configurations, CLI selection, PGI bindings, and cuRobo setup.

Dependencies: None. The separate DexSim contact/rest-offset transition fix is intentionally outside this PR.

Issue: N/A (no linked issue).

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Not applicable.

Validation

• black --check --diff --color ./ — 665 files unchanged in a clean worktree
• pytest -q tests/sim/atomic_actions/test_tutorial_utils.py tests/sim/planners/test_curobo_planner.py tests/sim/planners/test_curobo_integration.py — 89 passed, 1 skipped, 6 deselected
• python scripts/tutorials/atomic_action/coordinated_pickment.py --robot franka --viser — exited successfully with no PhysX contact/rest-offset warnings
• python scripts/tutorials/atomic_action/coordinated_pickment.py --viser — exited successfully
• python scripts/tutorials/atomic_action/coordinated_placement.py --viser — exited successfully

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation (not required for these self-contained tutorials).
• I have added tests that prove the change is effective.
• Dependencies have been updated (not applicable).

[greptile-apps]

Greptile Summary

The PR generalizes atomic-action tutorials to select UR5 or Franka robots and migrates tutorial motion generation to cuRobo.

• Adds shared single- and dual-arm robot construction for UR5 and Franka with PGI grippers.
• Makes tutorial waypoints, solver roots, initial configurations, and CLI robot selection robot-independent.
• Consolidates cuRobo obstacle naming and expands focused tutorial and trajectory coverage.

Confidence Score: 4/5

The PR is not yet safe to merge because migrated tutorials still fail during cuRobo initialization on hosts without CUDA.

The previously reported failure remains: tutorial construction always selects CuroboPlannerCfg, whose initialization raises when CUDA is unavailable, so affected tutorials exit before compiling their actions.

Files Needing Attention: scripts/tutorials/atomic_action/tutorial_utils.py

Important Files Changed

Filename	Overview
scripts/tutorials/atomic_action/tutorial_utils.py	Adds robot-selection helpers and a shared cuRobo generator, but the generator still terminates tutorial startup on systems without CUDA.
scripts/tutorials/atomic_action/scenario_utils.py	Adds generalized dual-arm UR5/Franka configuration, mounting, solver, and gripper assembly helpers.
embodichain/lab/sim/planners/curobo/curobo_planner.py	Reuses centralized rigid-object naming while retaining cuRobo’s explicit CUDA availability requirement.
tests/sim/atomic_actions/test_tutorial_utils.py	Adds focused coverage for robot selection, tutorial imports, PGI bindings, and single- and dual-arm configuration.

_{Reviews (2): Last reviewed commit: "fix(tests): update success mask argument" | Re-trigger Greptile}