We have a robot with a base and a UR5 robotic arm attached to it. I built a USD file from our URDF and then generated an XRDF file from that USD file, adding self-collision geometry (bubbles) for the UR5 arm and its gripper (tool0).
Our robot’s URDF file contains around 17 joints (wheels, base, 6 joints of ur5, etc.). However, I cannot run cumotion_planner_node without including all the joints. If I exclude even one joint, I receive a cspace definition error.
When I run the planner using the MoveIt GUI, I consistently get the following error, even after adjusting the acceleration_limits and jerk_limits:
[cumotion_action_server]: returned planning result (query, success, failure_status): 0 False MotionGenStatus.INVALID_START_STATE_SELF_COLLISION
Does this mean that, in order to run cuMotion with my robot, I must remove everything except the robotic arm? Or is there another way to resolve this issue?