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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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Motion_gen fail to plan with multi_arm_reacher.py and custom robot #86

Closed Spphire closed 11 months ago

Spphire commented 11 months ago

Isaac Sim version: 2022.2.1

In multi_arm_reacher.py: https://github.com/NVlabs/curobo/assets/56157591/0ecf78ea-437c-438e-8a4b-b316d178fe87

I use mpc instead of motion_gen, it performs well, so i think the reason is not my custom robot:

https://github.com/NVlabs/curobo/assets/56157591/8d5d6426-2e37-4d45-b0a9-5b94e731040d

balakumar-s commented 11 months ago

Is it possible for you to share the robot configuration file and the urdf?

The reason could be that the robot configuration file did not specify all self collision ignores. Mpc will return a solution even when in self collision.

Spphire commented 11 months ago

Is it possible for you to share the robot configuration file and the urdf?

The reason could be that the robot configuration file did not specify all self collision ignores. Mpc will return a solution even when in self collision.

sure content_flexiv.zip

balakumar-s commented 11 months ago

I found the issue. The spheres for the base link were colliding with the ground. We will add a note in the robot configuration tutorial about this.

Reduce the radius of the spheres for base_link and base_link_1 to 0.05. This worked for me.

Spphire commented 11 months ago

I found the issue. The spheres for the base link were colliding with the ground. We will add a note in the robot configuration tutorial about this.

Reduce the radius of the spheres for base_link and base_link_1 to 0.05. This worked for me.

Thx!

WangYong-999 commented 9 months ago

Hello, I would like to ask how to use mpc in two robotic arms, similar to multi_arm_reacher.py, but I do not find the link_poses parameter in mpc similar to the plan_single() function. @balakumar-s