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CUDA Accelerated Robot Library
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Cannot generate collision spheres using built-in franka URDF #120

Closed BolunDai0216 closed 9 months ago

BolunDai0216 commented 9 months ago

Please provide the below information in addition to your issue:

  1. cuRobo installation mode: isaac sim
  2. python version: 3.10
  3. Isaac Sim version (if using): 2023.1.1

Issue Details

I was trying to learn how to configure a new robot, since I could not run the provided URDF to USD conversion script (see #119), I wanted to manually convert a URDF to USD and then perform the collision sphere generation. However, when playing around with the built-in franka URDF from Isaac Sim, after generating the USD, I cannot generate the collision spheres.

Two anomalies I noticed are:

I suspect that for the sphere generation to work the URDF needs to follow some convention that Isaac Sim is even not following.

Any suggestions on what might be the issue would be greatly appreciated! Thanks in advance!

For reference, this is the URDF file I am using

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="panda_link0">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link0.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.8142028896"/>
      <inertia ixx="0.0129886979" ixy="0.0" ixz="0.0" iyy="0.0165355284" iyz="0" izz="0.0203311636"/>
    </inertial>
  </link>
  <link name="panda_link1">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link1.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.3599995791"/>
      <inertia ixx="0.0186863903" ixy="0.0" ixz="0.0" iyy="0.0143789874" iyz="0" izz="0.00906812"/>
    </inertial>
  </link>
  <joint name="panda_joint1" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="0 0 0" xyz="0 0 0.333"/>
    <parent link="panda_link0"/>
    <child link="panda_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
  </joint>
  <link name="panda_link2">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.379518833"/>
      <inertia ixx="0.0190388734" ixy="0.0" ixz="0.0" iyy="0.0091429124" iyz="0" izz="0.014697537"/>
    </inertial>
  </link>
  <joint name="panda_joint2" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
    <parent link="panda_link1"/>
    <child link="panda_link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
  </joint>
  <link name="panda_link3">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.6498823337"/>
      <inertia ixx="0.0129300178" ixy="0.0" ixz="0.0" iyy="0.0150242121" iyz="0" izz="0.0142734598"/>
    </inertial>
  </link>
  <joint name="panda_joint3" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
    <parent link="panda_link2"/>
    <child link="panda_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
  </joint>
  <link name="panda_link4">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link4.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.6948018744"/>
      <inertia ixx="0.0133874611" ixy="0.0" ixz="0.0" iyy="0.014514325" iyz="0" izz="0.0155175551"/>
    </inertial>
  </link>
  <joint name="panda_joint4" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
    <parent link="panda_link3"/>
    <child link="panda_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
  </joint>
  <link name="panda_link5">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link5.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.9812816864"/>
      <inertia ixx="0.0325565705" ixy="0.0" ixz="0.0" iyy="0.0270660472" iyz="0" izz="0.0115023375"/>
    </inertial>
  </link>
  <joint name="panda_joint5" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
    <parent link="panda_link4"/>
    <child link="panda_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>
  <link name="panda_link6">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link6.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="1.1285806309"/>
      <inertia ixx="0.0026052565" ixy="0.0" ixz="0.0" iyy="0.0039897229" iyz="0" izz="0.0047048591"/>
    </inertial>
  </link>
  <joint name="panda_joint6" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
    <parent link="panda_link5"/>
    <child link="panda_link6"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
  </joint>
  <link name="panda_link7">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/link7.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.4052912465"/>
      <inertia ixx="0.0006316592" ixy="0.0" ixz="0.0" iyy="0.0006319639" iyz="0" izz="0.0010607721"/>
    </inertial>
  </link>
  <joint name="panda_joint7" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
    <parent link="panda_link6"/>
    <child link="panda_link7"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>
  <link name="panda_link8"/>
  <joint name="panda_joint8" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.107"/>
    <parent link="panda_link7"/>
    <child link="panda_link8"/>
    <axis xyz="0 0 0"/>
  </joint>
</robot>
balakumar-s commented 9 months ago

Did you click play after loading the sphere generation extension loads?

BolunDai0216 commented 9 months ago

Yes I did.

balakumar-s commented 9 months ago

Can you try with isaac sim 2023.1.0?

BolunDai0216 commented 9 months ago

Is it an issue to install different versions of Isaac Sim on the same computer?

balakumar-s commented 9 months ago

No issues, they will be installed in separate locations.

BolunDai0216 commented 9 months ago

Isaac Sim 2023.1.0 does not have this issue.

balakumar-s commented 9 months ago

Okay, we haven't yet tested on 2023.1.1. We will add a note in the instructions.

BolunDai0216 commented 9 months ago

Thank you so much for the help!