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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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motion_gen_reacher.py generates collisions in v0.7.4 #388

Closed yunfanjiang closed 2 months ago

yunfanjiang commented 2 months ago

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:

  1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): isaac sim
  2. python version: 3.10
  3. Isaac Sim version (if using): 4.0.0

Was migrating from v0.7.3 to v0.7.4, I noticed that the basic motion_gen_reacher.py example would generate motions with collisions now. See attached videos for Franka and UR10e. v.0.7.3 with Isaac Sim 2023.1.0-hotfix.1 works fine though.

https://github.com/user-attachments/assets/eec1f2f8-1a73-4c78-ba1d-7459dc6a2ce9

https://github.com/user-attachments/assets/d5d9ab29-f2c6-45f9-8021-aecaa332e839

yunfanjiang commented 2 months ago

After more test, this seems not to be an issue with CuRobo. It's because the added object was not properly included into the scene collision model.

yunfanjiang commented 2 months ago

And the reason why objects were not properly included is because they would be put under the robot prim path by default (e.g., \panda), which were then ignored here.