Collision from Isaac Sim Running with Moveit Trajectory

[blueed96]

Isaac Sim Version

o 5.0.0

Operating System

o Ubuntu 22.04

GPU Information

• Model: RTX 2060
• Driver Version:

Topic Description

Detailed Description

Trajectory Execution : I generated trajectory using Moveit2, and executing in Isaac Sim by publishing to joint_commandswith10Hz. Isaac Sim physics_dt is set to 30Hz.

Collision Object Generation : Object is generated from Isaac Sim and publish pose information to Moveit2 planning_scene. ← Assuming this part could go wrong because of meshes, but unsure to fix it.

Bug : Trajectory generated from Moveit2 making a slight collision between robot and collision object.

Screenshots or Videos

1. Initial Position (No bug)

2. End position (No bug)

3. Collision between link6 & object (Bug)

   

What I’ve Tried

1. Matching joint_commands publish rate to physics_dt of isaac Sim.
2. Interpolating generated trajectory to have more waypoints.
3. Set restOffset = 0 and contactOffset = 1e-5 to reduce collision detection distance. ← I thought this would solve the problem but it didn’t.
4. Ran the trajectory without Isaac Sim –> No collision issue happened.

Issue still persists with above trials. I’m wondering if my setup could be wrong :

Isaac Sim publishes objects to Moveit2 planning_scene --> Send goal to Moveit --> Trajectory --> Publish to execute (10Hz) 

Any suggestion will helpful. Thank you!

[blueed96]

I think this is a problem of difference between ros_controller and Articulation Controller. I just fixed this by add padding on the ROS’ collision object. Now it doesn’t collide, but not sure if this is the right fix. I honestly have no idea how to resolve this issue.

[hking]

Hi, it looks like your request fell through the cracks here. Did you manage to resolve this issue, or is it still persisting?

[blueed96]

Hi I could resolve the issue, and it was not Isaac Sim problem.

[hking]

Great! Thanks for letting us know.
Closing this issue.