motion_gen_reacher.py - Jaco7 - stuck in infinite loop

[cloudchef-wyatt]

If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions

Please provide the below information in addition to your issue:

1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]):

python
-e git+https://github.com/NVlabs/curobo.git@ebb71702f3f70e767f40fd8e050674af0288abe8#egg=nvidia_curobo

2. python version (omni_python from isaacsim):

Python 3.10.14

3. Isaac Sim version (if using):

4.2.0-rc.18+release.16044.3b2ed111.gl

4. Cuda

Cuda compilation tools, release 11.8, V11.8.89
Build cuda_11.8.r11.8/compiler.31833905_0

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Issue Details

Steps to reproduce:

1. Please run the following.

omni_python motion_gen_reacher.py --robot jaco7.yml

motion_gen_reacher.py

2. Move the cube slightly towards the robot until it finds a solution.

3. Move the cube left and right.

4. Robot will get stuck and will no longer respond to cube movements.

5. Logs will loop stating:

2025-12-13 01:54:02 [41,444ms] [Warning] [__main__] Plan did not converge to a solution: MotionGenStatus.INVALID_START_STATE_JOINT_LIMITS

6. Moving cube no longer affects arm.

In addition to Jaco, I have encountered this problem using a custom arm I tried to onboard.
I do not seem to encounter this issue with Franka Panda, which seems to work without issues.
Could this be rounding errors in my environment? Logical error in the example script not planning for recovering from failures?

Aside:
An arm I would like to use is 6-DOF, and has a left and right gripper joint, and has a camera link.
Any advice on how to onboard this arm to use in this example setup would be appreciated!
I followed the tutorial to onboard the arm, but it doesn't seem to work as well as Franka Panda and the gripper is grabbing the cube upside down, in addition to sometimes throwing errors (I believe due to the 2 gripper joints).
https://curobo.org/tutorials/1_robot_configuration.html

Thanks :)