UR10 is not initializing correctly while running on standalone application

[samarth.shukla]

Isaac Sim Version

2023.1.1

Operating System

Ubuntu 22.04

GPU Information

• Model: NVIDIA GeForce RTX 3090
• Driver Version: 570.124.04

Topic Description

Detailed Description

I am trying to pick and place a cube from one place to another using UR10 with cortex library with the vacuum or surface gripper provided by the isaac sim.
When i created a standalone application to create a UR10 robot and attach gripper using the attach_gripper method of UR10 and after that when i played the simulation the robot was not standing on the position.
Therefore when i am trying to pick a cube it is not following the proper path. I have given the created UR10 robot to cortexUr10 to get the object of the same and use the following with decider and state networks.

I have attached the standalone application code here, also a video of robot which is not standing and not standing.

Code when adding UR10 using cortex.
from omni.isaac.kit import SimulationApp

simulation_app = SimulationApp({“headless”: False})

import numpy as np
from omni.isaac.core.objects import DynamicCuboid
from omni.isaac.cortex.cortex_world import CortexWorld
from omni.isaac.cortex.df import DfNetwork, DfState, DfStateMachineDecider
from omni.isaac.cortex.dfb import DfRobotApiContext, DfBasicContext
from omni.isaac.cortex.robot import CortexUr10, add_ur10_to_stage
from omni.isaac.universal_robots import UR10
from omni.isaac.core.utils.types import ArticulationAction

class PickState(DfState):

@property
def robot(self):
    return self.context.robot

@property
def pick_cube(self):
    return self.context.robot.pick_cube

def enter(self):
    self.robot.set_joints_default_state(positions=np.array([0.0,1.57, 1.57, 0.0, 1.57, 0.0]))
    self.target_pos, _ = self.pick_cube.get_world_pose()

def step(self):
    self.robot.arm.send_end_effector(target_position=self.target_pos)
    return self

def main():

world = CortexWorld()
robot = world.add_robot(add_ur10_to_stage(name="ur10", prim_path="/World/UR10"))
robot.pick_cube = world.scene.add(
     DynamicCuboid(
         name="pick_cube", prim_path="/World/PickCube",position=np.array([0.0, 0.8, 0.1 / 2]), scale=np.array([0.1, 0.1, 0.1]), color=np.array([0.7,0.0,0.7])
     )
)
world.scene.add_default_ground_plane()

#world.add_decider_network(DfNetwork(DfStateMachineDecider(PickState()), context=DfBasicContext(robot)))

world.run(simulation_app)
simulation_app.close()

if name == “main”:

main()

---

code when using UR10 to add robot to scene and then creating object of CortexUr10 using the same prim

from omni.isaac.kit import SimulationApp

simulation_app = SimulationApp({“headless”: False})

import numpy as np
from omni.isaac.core.objects import DynamicCuboid
from omni.isaac.cortex.cortex_world import CortexWorld
from omni.isaac.cortex.df import DfNetwork, DfState, DfStateMachineDecider
from omni.isaac.cortex.dfb import DfRobotApiContext, DfBasicContext
from omni.isaac.cortex.robot import CortexUr10, add_ur10_to_stage
from omni.isaac.universal_robots import UR10
from omni.isaac.core.utils.types import ArticulationAction

class PickState(DfState):

@property
def robot(self):
    return self.context.robot

@property
def pick_cube(self):
    return self.context.robot.pick_cube

def enter(self):
    self.robot.set_joints_default_state(positions=np.array([0.0,1.57, 1.57, 0.0, 1.57, 0.0]))
    self.target_pos, _ = self.pick_cube.get_world_pose()

def step(self):
    self.robot.arm.send_end_effector(target_position=self.target_pos)
    return self

def main():

world = CortexWorld()
world.scene.add(UR10(prim_path="/World/UR10",attach_gripper=True))

robot = world.add_robot(CortexUr10(name="Ur10", prim_path="/World/UR10"))
robot.pick_cube = world.scene.add(
     DynamicCuboid(
         name="pick_cube", prim_path="/World/PickCube",position=np.array([0.0, 0.8, 0.1 / 2]), scale=np.array([0.1, 0.1, 0.1]), color=np.array([0.7,0.0,0.7])
     )
)
world.scene.add_default_ground_plane()

#world.add_decider_network(DfNetwork(DfStateMachineDecider(PickState()), context=DfBasicContext(robot)))

world.run(simulation_app)
simulation_app.close()

if name == “main”:

main()

This is what is happening, if my understanding is wrong help me with better understanding to pick this cube with set of configuration of UR10

Thank you in advance i am unable to solve this problem.

[samarth.shukla]

If without adding UR10 using add robot, if we add reference to stage it worked for me now.