Plan did not converge to a solution: MotionGenStatus.IK_FAIL

[yslbit]

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Please provide the below information in addition to your issue:

1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]):
2. python version:
3. Isaac Sim version (if using):

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Issue Details

1. Isaac sim installation
2. python==3.10.15
3. Isaac sim = 4.5

Hi, there. I am encountering some issues: the robotic arm (Aubo i3) that I configured myself shows an explicitly valid reachable workspace when using the script “ik_reachability.py”, and it also works correctly in “mpc_example.py”. However, when I run “motion_gen_reacher.py”, it keeps reporting
“Plan did not converge to a solution: MotionGenStatus.IK_FAIL”,
even though the same target position is explicitly reachable in “ik_reachability.py” and is also reachable on the real robot.

So , any one can help me?

[yslbit]

I found that in the particle phase, the cost is only on the thousand level, while in L-BFGS it immediately jumps to the order of 1e7. This is very strange.