Collision from Isaac Sim Running with Moveit Trajectory

Omniverse Isaac Sim
1

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)

sc3
sc31188×501 87.7 KB

  1. End position (No bug)

sc2
sc21205×490 86.9 KB

  1. Collision between link6 & object (Bug)

    sc4
    sc41221×681 143 KB

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!

2

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.