CuRobo compatability with IsaacSim 4.5

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify): Ubuntu 24.04

Topic Description

The setup instructions for CuRobo w. IsaacSim seem to be outdated. Isaac Sim 4.5 docs mention CuRobo as motion planner, but it seems to be incompatible with this version.

Detailed Description

Following the instructions provided here, none of the CuRobo examples work together with isaac, seemingly sim due to multiple breaking changes in the Isaac API.

Steps to Reproduce

Follow the setup instructions and run omni_python /examples/...

Here’s a selection of errors that occur:

collision_checker

from omni.isaac.debug_draw import _debug_draw
>> ModuleNotFoundError: No module named 'omni.isaac.debug_draw

ik_reachability

from omni.isaac.urdf import _urdf
>> ModuleNotFoundError: No module named 'omni.isaac.urdf'

ik_reachability (after fixing the import above)

position=tensor_args.to_device(sim_js.positions)
>> AttributeError: 'NoneType' object has no attribute 'positions'

Will there be a CuRobo extension / working CuRobo version for Isaac Sim 4.5 soon?

1 Like
2

this would be the same problem i’m facing too please extend the support to 4.5 if you are planning to deprecate 4.2

4

Thanks for bringing this issue up. Currently curobo works with Isaac Sim 4.0.0 and Isaac Sim 4.2.0. Let me reach out to the internal team when it will support Isaac Sim 4.5.0

1 Like
6

Hi,

Is there any update on when CuRobo will be available for IsaacSim 4.5 ? I want to CuRobo in my IsaacLab 2.0 pipeline and this would mean I need IsaacSim 4.5.

I also got stuck at the same error which the other users have received. Even if you can point us in that direction, we might be able to do it together.

1 Like
7

I cannot guarantee anything, but these changes at least work for me so far: Comparing NVlabs:main...JonathanKuelz:main · NVlabs/curobo · GitHub

2 Likes
8

Hi @jonathan.kuelz

Thanks for sharing the link to your repo. I also got it running after adding the

my_world.step(render=True) on line 219

But my motion planner for a custom robot still fails with no log messages. And also I need the ik_reachability.py to work, I will keep you posted if I get it to work sometime.

1 Like
9

Thanks
I found the core reason.
At Isaac Sim example, we need a proper urdf importer. So, we must change from the old method (from omni.importer.urdf import _urdf) to a new one (from isaacsim.asset.importer.urdf import _urdf) at the curobo_examples/isaac_sim/helper.py.

We can refer to it to the Isaac Sim 4.5 documentation in URDF import section (click ‘Python Script’ tab).

10

I am having the same problem

Hopefully Nvidia will respond quickly and update the example

11

Hi all! Thanks for your patience. Currently our internal team is still working on making cuRobot compatible with Isaac Sim 4.5.0+.

12

Hi all! Curobo is currently working with Isaac Sim 4.5. Please checkout our latest commit on Github GitHub - NVlabs/curobo: CUDA Accelerated Robot Library

1 Like
13

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.