Question about <"configurating a New robot">

[xjmpeter]

Hi,

Thank you for your great code!

I followed the instructions.
When I run the script "omni_python .... motion_gen_reacher.py --robot myrobot.yml --visualize_spheres" , my robot is popup on isaac-sim .
After click the "play" button, and then move the red cube , but robot doesn't move.
There is no error ,only some warning
The log is as follow:

[balakumar-s]

Does the ik example or mpc example work for your robot?

[peter05010402]

@xjmpeter
Do you solve the problem?
I also face the problem.

[balakumar-s]

See if this solves the problem:

#16 (comment)

[peter05010402]

Hi @balakumar-s

mpc_example is work for my robot.
But the end of robot move up while the target cube down.
motion_gen_reacher doesn't work, print warning: “Plan did not converge to a solution. No action is being taken.”

[balakumar-s]

Did you setup the self collision ignore correctly? It looks like the robot might have self collisions at the start state.

[peter05010402]

when Run "omni_python curobo/examples/isaac_sim/motion_gen_reacher.py --robot /{PATH}/ur5e.yml --visualize_spheres",
there is no links' spheres.

[balakumar-s]

What value did you set {PATH} to?