Issue with Isaac Sim example with iiwa_allegro.yml

[masaaldosey]

• I am trying to run the motion_gen_reacher.py example with the iiwa_allegro.yml robot configuration file.
• I have not made any changes to the iiwa_allegro.yml file.
• When I click the Play button and move the target cube around, I always run into [Warning] [__main__] Plan did not converge to a solution. No action is being taken.
• Could you please help me solve this? My software versions are - cuRobo hash, Isaac Sim 2022.2.1.
• I looked at discussions:
  • What are reasons that no valid configuration found when running motion_gen #121
  • Is solving IK for multiple end-effectors supported? e.g. with a multi-finger hand? #81

iiwa_allegro.mp4

[balakumar-s]

iiwa_allegro is meant to be run with multi_arm_reacher.py example as the configuration file for the robot tries to track multiple fingertips.

If you want to use it for single target reaching, make link_names: null here

curobo/src/curobo/content/configs/robot/iiwa_allegro.yml

Line 36 in 88eac64

link_names:

[masaaldosey]

Thank you, it works now! However, would it be possible to skip the ee_link altogether and send directly the fingertips?

[balakumar-s]

You can make ee_link: one of the fingertips. That will make all targets be for the fingertips.