RMP on my own robot (omni.isaac.motion_planning: RMP Extension)

[swimpark]

Hi.

I have been trying to apply RMP on my own robot (indyrp2, Nueromeka), but it doesn’t work yet.

I referred to RMP Example with Panda and UR10, and both of them work well.

To adapt it on my robot, I copied and modified some files

“omni.isaac.sample.script.sample.py” , “omni.isaac.sample.utils.ur10.py”, “omni.isaac.motion_planning.resources.lula.lula_ur10”

The usd file is loaded well, but it doesn’t work after pushing play button with this error.

2021-10-28 13:14:07  [Error] [carb.physx.python] RuntimeError: yaml-cpp: error at line 65, column 22: illegal map value

At:
  /home/idim/.local/share/ov/pkg/isaac_sim-2021.1.1/exts/omni.isaac.samples/omni/isaac/samples/scripts/utils/indyrp2.py(212): __init__
  /home/idim/.local/share/ov/pkg/isaac_sim-2021.1.1/exts/omni.isaac.samples/omni/isaac/samples/scripts/rmp_sample_indy/sample.py(105): register_assets
  /home/idim/.local/share/ov/pkg/isaac_sim-2021.1.1/exts/omni.isaac.samples/omni/isaac/samples/scripts/rmp_sample_indy/sample.py(116): step
  /home/idim/.local/share/ov/pkg/isaac_sim-2021.1.1/exts/omni.isaac.samples/omni/isaac/samples/scripts/rmp_sample_indy/extension.py(121): _on_simulation_step
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: Exception ignored in: 2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: <function indyrp2.__del__ at 0x7f15b8ea8560>
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: 
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: Traceback (most recent call last):
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]:   File "/home/idim/.local/share/ov/pkg/isaac_sim-2021.1.1/exts/omni.isaac.samples/omni/isaac/samples/scripts/utils/indyrp2.py", line 246, in __del__
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]:     
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: self.mp.unregisterRmp(self.rmp_handle)
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: 
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: AttributeError
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: : 
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: 'indyrp2' object has no attribute 'rmp_handle'
2021-10-28 13:14:07  [Error] [carb.python] [py stderr]: 

You can check the customized files

1. lula_indyrp2.zip (4.8 KB)
2. indyrp2.zip (3.0 KB)
3. rmp_sample_indy.zip (17.6 KB)

I really want to know how to fix this problem.

Thank you.

[BuckBabich]

I think this backslash in your robot_descriptor.yaml is to blame:

active_task_spaces:\
    - link0

[swimpark]

It works well.

I really appreciate about it !

Is there any plan to adapt RMP much easier on user’s own robots later version ?

[BuckBabich]

Good to hear! We’re actively working to improve both performance and ease of use in the next release.

[swimpark]

So, is it possible to share some files of DOFBOT RMP, now ?

I saw a webinar, which play the RMP example of DOFBOT.

I remember the host was employee HaiLocLu.

Thank you !