Isaac sim xrdf cumotion

Omniverse Isaac Sim
1

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: L4 GCP
  • Driver Version: Latest

Topic Description

Detailed Description

I’m currently trying to export XRDF files from Isaac Sim to CuMotion. However, I’m encountering multiple issues:

  1. The export doesn’t seem to work correctly, as there are no tools or buffer distances included, which are essential for our setup.
  2. Additionally, I am consistently receiving a “start state error.”(only solved if i am making the collision spheres radius very small.
  3. We are also having difficulty understanding how the integration with MoveIt works. Specifically, is the URDF that we send to CuMotion published as a collision scene? My assumption is that it is not, but I would appreciate clarification on this.

Steps to Reproduce

  1. Attempt to export XRDF from Isaac Sim to CuMotion.
  2. Observe the missing tools and buffer distances in the exported file.
  3. Monitor for any error messages, particularly the “start state error.”
  4. Check the integration with MoveIt regarding the URDF and collision scenes.

Error Messages

  • “Start state error” (exact message may vary)

Screenshots or Videos

(If applicable, I will add screenshots or videos that demonstrate the issue.)

Additional Information

What I’ve Tried

  • Repeated the export process several times.
  • Verified that all required parameters were set in Isaac Sim.
  • Searched for documentation on the integration with MoveIt but could not find conclusive answers regarding the collision scene.

Related Issues

(If you’re aware of any related issues or forum posts, please link them here.)

Additional Context

I am working on a project that requires precise integration between Isaac Sim, CuMotion, and MoveIt. Any guidance on resolving these export issues and clarifying the collision scene publication would be greatly appreciated.

3

Hey @nir9! cuMotion is using cuRobo as core. Have you checked it out for better understanding?
And yes cuMotion should be using the data in the XRDF file. You can check out this tutorial configuring a new robot to have a better understanding of the file and how cuRobo is using it. If it is doesn’t violate any confidentiality, would you be able to share your XRDF file with us so we can replicate your issue? Thanks!