error in testing a new robot in certain example

[Follograph]

Hello,

I have trouble running motion_gen_example.py with my own robot yaml file. The result turns out that IK solver fails as below.

Skip 6
Skip 7
Skip 8
Skip 9
skip 6
Skip 7
Skip 8
skip 9
Trajectory Generated:tensor ([False], device=' cuda:0') 0.0047872066497802734 IK Fail

It seems that my yaml file has something wrong. However, when I run the motion_gen_reacher.py in Isaac Sim folder with the same file, the simulation works well.

sunlogin_20240305181657.mp4

I wonder why and how can I figure out where the problem lies in the yaml file?

By the way, if I need to apply curobo to my real robot, do I still need the yaml file in my script and is there any instruction for use in real robot?

Thank you!

Here is the yml file if you would like to see.

flexiv.yml

robot_cfg:
  kinematics:
    usd_path: "home/curobo/src/curobo/content/assets/robot/flexiv_description/flexiv_rizon4_total.usd"
    usd_robot_root: "/robot"
    isaac_usd_path: ""
    usd_flip_joints: {}
    usd_flip_joint_limits: []
urdf_path: "robot/flexiv_description/flexiv_rizon4_total.urdf"
asset_root_path: "robot/flexiv_description"

base_link: "base_link"
ee_link: "tcp"
link_names: null
lock_joints: null
extra_links: null


collision_link_names:
  [       
    "base_link",
    "link1",
    "link2",
    "link3",
    "link4",
    "link5",
    "link6",
    "link7",
    "base_hand",
    "left_finger_mount",
    "left_finger_tip",
    "right_finger_mount",
    "right_finger_tip",
  ]      
collision_spheres:
  base_link:
    - "center": [0.0, 0.0, 0.082]
      "radius": 0.09
  link1:
    - "center": [-0.0, 0.0, 0.053]
      "radius": 0.09
    - "center": [-0.0, 0.0, 0.199]
      "radius": 0.09
    - "center": [-0.0, 0.0, 0.126]
      "radius": 0.09
  link2:
    - "center": [0.0, 0.055, 0.022]
      "radius": 0.09
    - "center": [0.0, 0.037, 0.138]
      "radius": 0.08
  link3:
    - "center": [0.0, -0.0, 0.059]
      "radius": 0.08
    - "center": [-0.006, 0.022, 0.183]
      "radius": 0.08
  link4:
    - "center": [0.0, 0.042, 0.017]
      "radius": 0.08
    - "center": [-0.013, 0.029, 0.129]
      "radius": 0.08
  link5:
    - "center": [0.0, -0.0, 0.046]
      "radius": 0.07
    - "center": [0.0, -0.009, 0.185]
      "radius": 0.07
    - "center": [0.0, -0.005, 0.116]
      "radius": 0.07
  link6:
    - "center": [0.0, 0.043, 0.012]
      "radius": 0.07
    - "center": [0.005, 0.067, 0.109]
      "radius": 0.075
  link7:
    - "center": [0.0, 0.0, 0.03]
      "radius": 0.065
  base_hand:
    - "center": [-0.0, -0.0, 0.038]
      "radius": 0.06
  left_finger_tip:
    - "center": [-0.0, 0.003, 0.018]
      "radius": 0.015
  right_finger_tip:
    - "center": [0.0, 0.005, 0.016]
      "radius": 0.015
  right_finger_mount:
    - "center": [-0.0, 0.006, -0.009]
      "radius": 0.03
  left_finger_mount:
    - "center": [0.0, -0.0, -0.009]
      "radius": 0.03
      
      
collision_sphere_buffer: 0.005
extra_collision_spheres: {}
self_collision_ignore: 
  { 
    "base_link": ["link1", "link2", "link3", "link4"],
    "link1": ["link2", "link3", "link4"],
    "link2": ["link3", "link4", "link5"],
    "link3": ["link4", "link5", "link6", "link7"],
    "link4": ["link5", "link6", "link7"],
    "link5": ["link6", "base_hand"],
    "link6": ["link7", "base_hand"],
    "link7": ["base_hand"],
    "base_hand": [ "left_finger_mount", "left_finger_tip", "right_finger_mount", "right_finger_tip"],
    "left_finger_mount": ["left_finger_tip", "right_finger_mount", "right_finger_tip"],
    "left_finger_tip": ["right_finger_mount", "right_finger_tip"],
    "right_finger_mount": ["right_finger_tip"],
  }      
self_collision_buffer: 
  {
    "base_link": 0.0,
    "link1": 0.0, 
    "link2": 0.0,
    "link3": 0.0,
    "link4": 0.0,
    "link5": 0.0,
    "link6": 0.0,
    "link7": 0.0,
    "base_hand": 0.0,
    "left_finger_mount": 0.0,
    "left_finger_tip": 0.0,
    "right_finger_mount": 0.0,
    "right_finger_tip": 0.0,
  }
use_global_cumul: True
mesh_link_names: 
  [        
    "base_link",
    "link1",
    "link2",
    "link3",
    "link4",
    "link5",
    "link6",
    "link7",
    "base_hand",
    "left_outer_bar",
    "left_inner_bar",
    "left_finger_mount",
    "left_finger_tip",
    "right_outer_bar",
    "right_inner_bar",
    "right_finger_mount",
    "right_finger_tip",
  ]          
external_asset_path: null # Use this to add path for externally located assets/robot folder.

cspace:
  joint_names: ["joint1","joint2","joint3","joint4","joint5","joint6","joint7",
  "left_outer_knuckle_joint","left_inner_knuckle_joint","left_inner_finger_joint",
  "right_outer_knuckle_joint","right_inner_knuckle_joint","right_inner_finger_joint"] 
  retract_config: [0.0, -0.2, 0.0, 0.57, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
  cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
  max_jerk: 500.0
  max_acceleration: 15.0

[balakumar-s]

The motion_gen_example.py uses a different collision environment with a pole. I suspect that the start configuration of your robot might be in collision.

[Follograph]

I modified the properties of collision spheres and it works to some extent. Thanks!