Please provide the below information in addition to your issue:
cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): isaac sim
python version: 3.10
Isaac Sim version (if using): 4.0
Issue Details
In many cases, the end effector of the robotic arm planned by Curubo does not move in a "straight line" but takes a longer route (like the video below).
How can we make Curubo's plan follow the principle of "shortest ee pose movement" as much as possible? Is it possible to achieve the "shortest ee pose movement" constraint directly through other general settings or parameters?
I know the official provides a "Constrained Planning" example, which can constrain the robotic arm to move along a certain axis, but it requires manual constraints and cannot be flexibly integrated into our existing robot project.
If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions
Please provide the below information in addition to your issue:
Issue Details
In many cases, the end effector of the robotic arm planned by Curubo does not move in a "straight line" but takes a longer route (like the video below).
https://github.com/user-attachments/assets/4b12bb65-cbb2-4b1d-a345-24722ac63288
How can we make Curubo's plan follow the principle of "shortest ee pose movement" as much as possible? Is it possible to achieve the "shortest ee pose movement" constraint directly through other general settings or parameters?
I know the official provides a "Constrained Planning" example, which can constrain the robotic arm to move along a certain axis, but it requires manual constraints and cannot be flexibly integrated into our existing robot project.