Potential issues with the latest release

[shannonwarren]

Potential issues with the latest release

[balakumar-s]

We also found another issue in the joint space planner that can cause it to work with low accuracy / success. We are investigating a fix.

[balakumar-s]

We have joint space planner working better in the latest release. Let us know if you have issues.

[shannonwarren]

Additionally, do you have any suggestions on how to debug when there is no plan generated? I know it could it be a resource limitation, MotionGenConfig or PlanConfig or just the collision environment. Is there a way of knowing what's causing this? Thank you

[balakumar-s]

Can you share the start_js as well? And is it for the Franka Panda robot?

We have a logger that will create an animated usd of the solver iterations. Though we haven't tested with plan_single_js

Here is an example:

curobo/examples/usd_example.py

Line 168 in 774dcfd

def save_log_motion_gen(robot_file: str = "franka.yml"):

[shannonwarren]

1. I have a UR5e arm running in simulation. This is my start_js

Planning to 'home' position JointState(position=tensor([-0.4660, -1.9553, -1.6230, -2.7051, -2.0357, 3.1413], device='cuda:0'), velocity=tensor([-0., 0., 0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., 0., 0., 0., 0.], device='cuda:0'), joint_names=['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], jerk=tensor([-0., 0., 0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32))

2. I'm trying to reliably navigate between these 2 joint states for a ur5e: joint_state_1 = [1.5127, -1.8392, 1.87056, -0.1426, 3.15, 3.1165], joint_state_2 = [-1.588, -1.633, -2.104, -2.324, 1.661, 3.107]. There are no obstacles in my test environment.

3. Additionally, I just tried the simple_stacking.py isaac example which has the usdhelper calling write_motion_gen_log api. I switched on the save_log flag to True to print and save debug information and i get this error.

[7.206s] Simulation App Startup Complete
warming up...
Traceback (most recent call last):
File "examples/isaac_sim/simple_stacking.py", line 435, in
my_world=my_world, my_task=my_task, constrain_grasp_approach=args.constrain_grasp_approach
File "examples/isaac_sim/simple_stacking.py", line 161, in init
self.motion_gen.warmup(parallel_finetune=True)
File "curobo/src/curobo/wrap/reacher/motion_gen.py", line 2202, in warmup
self.plan_single_js(start_state, goal_state, MotionGenPlanConfig(max_attempts=1))
File "curobo/src/curobo/wrap/reacher/motion_gen.py", line 2372, in plan_single_js
solve_state, start_state, goal_state, plan_config=plan_config
File "curobo/src/curobo/wrap/reacher/motion_gen.py", line 1842, in _plan_js_from_solve_state
result.debug_info["trajopt_result"] = traj_result
TypeError: 'NoneType' object does not support item assignment
2024-04-08 20:54:16 [14,746ms] [Warning] [carb.audio.context] 1 contexts were leaked
/home/shannon/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 593397 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python

[shannonwarren]

An update on 2) regarding navigating to the two joint states. There was a self collision in my tool joint causing the failure to plan. I reduced the sphere size to a very low value and it works reliably. I think I'll need to add this to the self_collision_ignore. Would be helpful to see a debug message when self collision happens.