I have a problem with isaac sim and curobo. I followed the tutorial from the Nvidia Curobo website: Configuring a New Robot - cuRobo, to configure a new robot. However, when I launch the example of motion_gen_reacher.py with the command : omni_python curobo/examples/isaac_sim/motion_gen_reacher.py --robot /{PATH}/ur5e.yml --visualize_spheres, the Ur5e robot appears on the screen but it doesn’t move when I move the target cube.
I’m working on Ubuntu 22.04 IsaacSim version 4.1 Cuda version 11.8 and I didn’t install nvblox
Has anyone encountered this issue or knows how to resolve it?
Thank you in advance !
I have already try to :
Move the target
Use the yml file from isaac sim
Generate and use another yml file
The terminal shows no error message
Strangely, the example works with the franka and Ur10 robot.
Hey @theo.bloesch, welcome to the community!
I am able to replicate the issue. I have reached out to the internal team for more investigation. Thanks for bringing this up!
if (np.max(np.abs(sim_js.velocities)) < 0.2) or args.reactive:
The planner will only be called when the robot is static. Robot is static when joint velocities are less than 0.2. For the ur5e robot in Isaac Sim, the joint velocities at initial configuration is pretty noisy and it causes the planner to never be called. You can print np.max(np.abs(sim_js.velocities)) to the terminal to check its value. Based on my verification, it is around 0.39.
To resolve this issue, you can change the threshold to a bigger value, e.g., 0.5.
@theo.bloesch Are you using the ur5e provided by Isaac Sim or your own URDF? To better resolve this issue, it might be necessary to adjust the joint drive gains. Here is a guide that you can refer to.