[cumotion_action_server]: returned planning result (query, success, failure_status): 0 False MotionGenStatus.INVALID_START_STATE_SELF_COLLISION

[wang_911205]

https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_moveit/index.html

root@wyw-N16PR1:/ROS2/IsaacSim-ros_workspaces/humble_ws# ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args -p robot:=ar3.xrdf -p urdf_path:=/ROS2/IsaacSim-ros_workspaces/humble_ws/install/ar3_description/share/ar3_description/urdf/ar3.urdf
[INFO] [1724310737.344831511] [cumotion_action_server]: Loaded robot file name: ar3.xrdf
[INFO] [1724310737.345064040] [cumotion_action_server]: warming up cuMotion, wait until ready
[INFO] [1724310740.727317737] [cumotion_action_server]: cuMotion is ready for planning queries!
[INFO] [1724310756.373308075] [cumotion_action_server]: Executing goal…
[INFO] [1724310756.373577983] [cumotion_action_server]: Planning with time_dilation_factor: 0.1
[INFO] [1724310756.622503235] [cumotion_action_server]: Calculating goal pose from Joint target
[ERROR] [1724310756.626294183] [cumotion_action_server]: Invalid planning query: MotionGenStatus.INVALID_START_STATE_SELF_COLLISION
[INFO] [1724310756.626561319] [cumotion_action_server]: returned planning result (query, success, failure_status): 0 False MotionGenStatus.INVALID_START_STATE_SELF_COLLISION

ar3.xrdf

format: "xrdf"

format_version: 1.0

default_joint_positions: 
  joint_1: -0.0
  joint_2: -0.0
  joint_3: -0.0
  joint_4: -0.0
  joint_5: -0.0
  joint_6: 0.0

cspace: 
  joint_names: 
    - "joint_1"
    - "joint_2"
    - "joint_3"
    - "joint_4"
    - "joint_5"
    - "joint_6"
  acceleration_limits: [10, 10, 10, 10, 10, 10]
  jerk_limits: [10000, 10000, 10000, 10000, 10000, 10000]

tool_frames: ["link_6"]

collision: 
  geometry: "auto_generated_collision_sphere_group"
  buffer_distance:
    link_1: 0.01
    link_2: 0.01
    link_3: 0.01
    link_4: 0.01
    link_5: 0.01
    link_6: 0.01  

self_collision: 
  geometry: "auto_generated_collision_sphere_group"
  buffer_distance:
    link_1: 0.07
    link_6: 0.05
  ignore: 
    base_link: 
      - "link_1"
    link_1: 
      - "link_2"
    link_2: 
      - "link_3"
    link_3: 
      - "link_4"
    link_4: 
      - "link_5"
    link_5: 
      - "link_6"

geometry: 
  auto_generated_collision_sphere_group: 
    spheres: 
      link_1: 
        - center: [-0.014, 0.009, -0.041]
          radius: 0.08
        - center: [-0.008, 0.042, -0.158]
          radius: 0.08
      link_2: 
        - center: [0.042, -0.09, -0.036]
          radius: 0.08
        - center: [0.14, -0.205, -0.066]
          radius: 0.08
      link_3: 
        - center: [0.007, -0.015, 0.059]
          radius: 0.08
      link_4: 
        - center: [-0.035, -0.005, -0.175]
          radius: 0.08
      link_6: 
        - center: [0.007, -0.006, 0.009]
          radius: 0.0164

[ly8199]

Hello！I also meet the same problem:
[INFO] [1730443507.238658219] [cumotion_action_server]: returned planning result (query, success, failure_status): 0 False MotionGenStatus.INVALID_START_STATE_SELF_COLLISION
But when I print the joint state, and I can make sure that it’s not in collision , have you solved the problem ?
Thankyou !

[VickNV]

How or where did you obtain the ar3.xrdf file?

[VickNV]

Could you also share the details of your issue, including the specific steps to reproduce it?

[ly8199]

I have solved it by checking which link pair is in self-collision and just ignore it in xrdf file! Thank you very much!

By the way, I found that the curobo python API document is a bit hard to read and find functions because there are so many functions with same name, will you have a plan to update the tutorial more specificly?

[VickNV]

Thank you for sharing your solution!

Regarding your comment about the curobo Python API documentation, I should clarify that this is outside the scope of this forum. We apologize for any inconvenience this may cause.