Self Collision

Omniverse Isaac Sim
1

We keep getting:
MotionGenStatus.INVALID_START_STATE_SELF_COLLISION

Is there a way to get more info on what sphere collides? Like what we did is that we removed all the spheres, start adding one by one and update the ignore list accordingly. This worked, but it is a time consuming approach.
Each sphere has some sort of ID (To which link it is attached + the number of the sphere within the spheres of the relevant link). The question is can you provide a verbose mode where we a collision is detected CuMotion specify which spheres are colliding? A collision is detected, apparently, the components that are colliding are known at the time of the detection.
Thanks in advance.

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4

Welcome @mohammad12 to this community! Thanks for your suggestion. Let me pass this to our developers.

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@mohammad12 our engineering team will work on this request.
In the meantime someone from the community wrote a script to get the collision which you might be interested in looking into: Debugging self-collision? · NVlabs/curobo · Discussion #223 · GitHub

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