[curobo] Plan did not converge to a solution: MotionGenStatus.IK_FAIL in my robot

[Junb0Dong]

Hi,
Recently, when I imported my robot into Curobo, I got an error when planning the motion by command python curobo/examples/isaac_sim/motion_gen_reacher.py --robot realman_gripper.yml --visualize_spheres :

[Warning] [main] Plan did not converge to a solution: MotionGenStatus.IK_FAIL

The vesion I used:

• pyhton 3.10.18
• isaacsim 4.2
• ubuntu22.04
  I created a docker environment based on ubuntu22.04 and ran it.

I referred to these issues:

• iiwa_allegro cannot work in motion_gen_reacher.py
• .INVALID_START_STATE_JOINT_LIMITS and MotionGenStatus.IK_FAIL
  I checked the joint_limits and it's no problem.

Could anyone please let me know is there any problem with it? Thank you!

Here is my .yml file:

robot_cfg:
  kinematics:
    usd_path: "robot/realman_gripper/rm_75_gripper.usd"
    # usd_path: null
    usd_robot_root: "/robot"
    isaac_usd_path: ""
    # usd_flip_joints: {"joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7", "gripper_joint1", "gripper_joint3"}
    usd_flip_joints: {}
    # usd_flip_joint_limits: [
    #     "joint1": (-3.1, 3.1),
    #     "joint2": (-2.268, 2.268),
    #     "joint3": (-3.1, 3.1),
    #     "joint4": (-2.355, 2.355),
    #     "joint5": (-3.1, 3.1),
    #     "joint6": (-2.233, 2.233),
    #     "joint7": (-6.28, 6.28),
    #     "gripper_joint1": (0.0, 1),  # 0.0 close, 0.04 open
    #     "gripper_joint3": (0.0, 1),  # 0.0 close, 0.04 open
    #     ]
    usd_flip_joint_limits: []

    urdf_path: "robot/realman_gripper/rm_75_gripper.urdf"
    asset_root_path: "robot/realman_gripper"
    base_link: "base_link"
    ee_link: "Link7"
    link_names: null
    lock_joints: null
    extra_links: null

    collision_link_names:
      [
        "base_link",
        "Link1",
        "Link2",
        "Link3",
        "Link4",
        "Link5",
        "Link6",
        "Link7",
        "gripper_link1",
        "gripper_link2",
        "gripper_link3",
        "gripper_link4"
      ] # List[str]
    collision_spheres:
      base_link:
        - "center": [0.002, 0.0, 0.081]
          "radius": 0.05011
        - "center": [-0.001, 0.002, 0.039]
          "radius": 0.04848
      Link1:
        - "center": [-0.0, -0.0, -0.031]
          "radius": 0.04685
        - "center": [-0.001, 0.026, -0.03]
          "radius": 0.03922
        - "center": [-0.006, 0.071, -0.019]
          "radius": 0.03007
      Link2:
        - "center": [0.0, 0.0, 0.107]
          "radius": 0.04407
        - "center": [0.005, 0.016, 0.075]
          "radius": 0.02928
        - "center": [0.001, 0.0, 0.101]
          "radius": 0.04407
      Link3:
        - "center": [0.0, 0.0, -0.034]
          "radius": 0.03816
        - "center": [0.0, 0.031, -0.031]
          "radius": 0.0303
        - "center": [-0.006, 0.073, -0.017]
          "radius": 0.02458
      Link4:
        - "center": [0.001, -0.0, 0.08]
          "radius": 0.03333
        - "center": [-0.001, 0.001, 0.091]
          "radius": 0.03259
        - "center": [0.001, 0.02, 0.049]
          "radius": 0.01856
      Link5:
        - "center": [-0.001, 0.006, -0.025]
          "radius": 0.03193
        - "center": [-0.001, 0.043, -0.022]
          "radius": 0.02156
        - "center": [-0.0, -0.002, -0.025]
          "radius": 0.03135
      Link6:
        - "center": [0.0, 0.0, 0.073]
          "radius": 0.03274
        - "center": [-0.007, 0.023, 0.029]
          "radius": 0.01448
        - "center": [-0.002, -0.0, 0.078]
          "radius": 0.03144
      Link7:
        - "center": [0.0, 0.003, 0.079]
          "radius": 0.01298
        - "center": [0.0, 0.003, 0.05]
          "radius": 0.01298
        - "center": [0.0, 0.004, 0.023]
          "radius": 0.01298
        - "center": [0.01, -0.011, -0.013]
          "radius": 0.01298
        - "center": [0.002, 0.016, -0.012]
          "radius": 0.01298
        - "center": [-0.014, -0.003, -0.012]
          "radius": 0.01298
      gripper_link1:
        - "center": [0.003, -0.0, 0.003]
          "radius": 0.0058
        - "center": [0.003, -0.0, 0.013]
          "radius": 0.0058
        - "center": [0.034, -0.001, 0.016]
          "radius": 0.0058
        - "center": [0.003, 0.001, 0.01]
          "radius": 0.0058
        - "center": [0.034, 0.001, 0.003]
          "radius": 0.0058
      gripper_link2:
        - "center": [0.019, 0.014, 0.009]
          "radius": 0.0076
        - "center": [0.022, 0.014, 0.001]
          "radius": 0.0076
      gripper_link3:
        - "center": [0.003, -0.0, 0.003]
          "radius": 0.0058
        - "center": [0.003, -0.0, 0.013]
          "radius": 0.0058
        - "center": [0.034, -0.001, 0.016]
          "radius": 0.0058
        - "center": [0.003, 0.001, 0.01]
          "radius": 0.0058
        - "center": [0.034, 0.001, 0.003]
          "radius": 0.0058
      gripper_link4:
        - "center": [-0.019, 0.014, -0.009]
          "radius": 0.0076
        - "center": [-0.019, 0.014, -0.001]
          "radius": 0.0076

    collision_sphere_buffer: 0.005 # float or Dict[str, float]
    extra_collision_spheres: {}
    self_collision_ignore: {
      "Link1": ["base_link", "Link2", "Link3", "Link4"],
      "Link2": ["Link3", "Link4", "Link5"],
      "Link3": ["Link4", "Link5", "Link6"],
      "Link4": ["Link5", "Link6"],
      "Link5": ["Link6", "Link7"],
      "Link6": ["Link7"],
      "gripper_link1": ["gripper_link2"],
      "gripper_link3": ["gripper_link4"]
    } # Dict[str, List[str]]
    self_collision_buffer: {} # Dict[str, float]

    use_global_cumul: True
    mesh_link_names: null # List[str]
    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", "gripper_joint1", "gripper_joint3"] # List[str]
      retract_config: [0.0, -0.16, 0.0, 1.57, 0.0, 0.17, 0.0, 0.4, 0.4] # List[float]
      null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # List[str]
      cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # List[str]
      max_jerk: 500.0
      max_acceleration: 15.0

[Junb0Dong]

and this is my robot model in isaacsim:

[yslbit]

Hello, I have the same question, have u solve it?