How to use the new joint-space planner introduced in cuMotion 4.0

[Namsangee]

Description

Hello NVIDIA Isaac ROS team,

According to the latest changelog for Isaac ROS cuMotion 4.0, the update on 2025-10-24 mentions:

“Added joint space planner and support for PyNITROS.”

I would like to confirm how the newly added joint-space planner can be enabled and used within the current MoveIt 2 + cuMotion integration.

From reviewing the latest source code of CumotionActionServer, it still appears that:

The planning request (MotionGen.plan_single) uses a Pose (task-space) goal.

Joint-based goals (goal_constraints.joint_constraints) are internally converted to an end-effector pose through forward kinematics before planning.

It is unclear whether the new joint-space planner is accessible via a planner ID, configuration parameter, or a different API call.

Questions

How can we explicitly activate the joint-space planner introduced in the 2025-10-24 update?

Is it exposed via a MoveIt 2 planner ID such as isaac_ros_cumotion_joint or through a parameter inside isaac_ros_cumotion_planning.yaml?

Does this planner perform true joint-space optimization (for example, minimizing joint distances or velocity cost) rather than pose error minimization?

Can it be used interchangeably with the default Cartesian cuMotion planner inside the same MoveIt 2 configuration?

Are there example configurations or launch files demonstrating joint-space planner usage?

[DK-feng]

I have the same question, it seems that joint_constraints doesn't work, the source code uses the following code to convert the joint_constraints to ee_constraints, just like what version 3.2 did:
goal_pose = self.motion_gen.compute_kinematics(goal_state).ee_pose.clone()

And I also want to limit a specified joint between a certain range to avoid some wired arm layout during trajectory planning, sure I can directly modify the urdf and xrdf file, but it's absolutely not a good idea, so i was wondering if there any other way I can set the the joint limits before doing trajectory planning.

moveit_msgs/MotionPlanRequest.msg also contains path_constraints, trajectory_constraints and reference_trajectories but it seems that cumotion doesn't utilize these information at all.