UR10 Robot Pick-and-Place Issue When Assembled on Table in Isaac Sim 4.2.0

Omniverse Isaac Sim
1

Hello,

I am trying to set up an environment to perform bin to bin pick and place using UR10 robot with a suction gripper. The scene setup looks like this (see scene_setup.png)

scene_setup
scene_setup492×369 145 KB

I am using the ur10_short_suction , thor_table, small_KLT and dynamic cuboid for setting up the scene.
The robot is attached to the table following the tutorial on Assembling Robots And Rigid Bodies

I have inherited from the BaseTask to create a custom pick and place task class. PickandPlace controller is used to perform the task

The pick and place works flawlessly when the robot is not attached to the table and has an unexpected behavior when it is attached to a table. (see video_1 and video_2).


I have verified the kinematics solver and the solutions are valid in both the configurations.

How can we resolve this pick and place issue when the robot is assembled on the table? Also, I would like to have a validation for the Robot and Table assembly.

Attaching the code snippets to reproduce the issue.
basetask.txt (7.7 KB)
basetask_without_table.txt (7.1 KB)
pick_place_py.txt (2.4 KB)

Isaac sim version: 4.2.0
Operating System: Ubuntu 22.04.5 LTS

Thank you in advance.

Regards,
Vajra

3

Hey did you solve this problem ? I also have the same problem. The franka robot works fine when the objects are in the ground and it behaves differently when placed in a table.

4

maybe you can take a look at this solution. I had the same problem and fix it by modifying the pickplace controller