Dual arm control with a single robot

[supersglzc]

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]): isaac sim
2. python version: 3.10.14
3. Isaac Sim version (if using): 4.0.0

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Hi, I have tried the Multi-Arm Reacher example and it works fine. Basically it defines two goals by specifying the link names in yml. However, when I tried the same thing on my dual-arm robot, in which two arms are connected by a shared torso, it often gives me: Plan did not converge to a solution. I am sure that those poses are easy to reach. If I disable one side of the arm joints to fixed, everything is smooth.

I suppose this is the issue of the connected body, is there any idea how I can resolve this? I don't want to create two separate robots instances and plan separately...

Thanks!

[bornaparo]

hi @supersglzc , could you please share your robot's .urdf and .xrdf files? I am having similar problem with baxter robot when using isaac_ros_cumotion moveit plugin, but in my case it doesn't successfully plan even for just one arm (more details in discussion).

[balakumar-s]

Multi-arm reaching does not work as well as single arm reaching. You could start with checking if multi-target IK works for your robot. If it doesn't work well, try increasing the number of ik iterations here (300-400 might be a good number to start with):

curobo/src/curobo/content/configs/task/gradient_ik_autotune.yml

Line 88 in 2fbffc3

n_iters: 100