Run isaac_ros_cumotion_examples demo error

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi,
My isaac_ros version is 3.2,and I follow isaac_ros_cumotion_moveit — isaac_ros_docs documentation run:

ros2 launch isaac_ros_cumotion_examples franka.launch.py

ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args \
-p robot:=$(ros2 pkg prefix --share isaac_ros_cumotion_robot_description)/xrdf/franka.xrdf \
-p urdf_path:=/opt/ros/humble/share/moveit_resources_panda_description/urdf/panda.urdf

In moveit,plan panda_arm works fine.But when I change to plan hand group,it reports error:

error
error1920×1080 255 KB

root@ubuntu:/workspaces/isaac_ros-dev# ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args -p robot:=$(ros2 pkg prefix --share isaac_ros_cumotion_robot_description)/xrdf/franka.xrdf -p urdf_path:=/opt/ros/humble/share/moveit_resources_panda_description/urdf/panda.urdf
[INFO] [1744286776.369368362] [cumotion_action_server]: Loading grid position and dims from grid_center_m and grid_size_m parameters.
[INFO] [1744286779.978988336] [cumotion_action_server]: warming up cuMotion, wait until ready
------------------ordered_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------Original self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------final self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------ordered_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------Original self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------final self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------ordered_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------Original self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------final self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------ordered_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------Original self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
------------------final self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1']
[INFO] [1744286795.110268324] [cumotion_action_server]: cuMotion is ready for planning queries!
[INFO] [1744286795.202297193] [cumotion_action_server]: Executing goal...
[INFO] [1744286795.211087662] [cumotion_action_server]: Planning with time_dilation_factor: 0.1
------------------ordered_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']
------------------Original self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1', 'panda_finger_joint2']
------------------final self.joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']
[INFO] [1744286795.214772840] [cumotion_action_server]: Calculating goal pose from Joint target
------------------ordered_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']
------------------Original self.joint_names: ['panda_finger_joint1', 'panda_finger_joint2']
[ERROR] [1744286795.220384526] [cumotion_action_server]: Error raised in execute callback: 'panda_joint1' is not in list
Traceback (most recent call last):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/action/server.py", line 333, in _execute_goal
    execute_result = await await_or_execute(execute_callback, goal_handle)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.10/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 724, in execute_callback
    goal_state = self.motion_gen.get_active_js(
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py", line 2177, in get_active_js
    opt_js = in_js.get_ordered_joint_state(opt_jnames)
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 395, in get_ordered_joint_state
    new_js.inplace_reindex(ordered_joint_names)
  File "/usr/lib/python3.10/contextlib.py", line 79, in inner
    return func(*args, **kwds)
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 405, in inplace_reindex
    new_index_l = [self.joint_names.index(j) for j in joint_names]
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 405, in <listcomp>
    new_index_l = [self.joint_names.index(j) for j in joint_names]
ValueError: 'panda_joint1' is not in list

I just added some prints. No other code was changed.How to fix it?