motion_gen_reacher.py return with "Opt Fail"

[simanxu]

1. cuRobo installation mode: isaac sim
2. python version: 3.10
3. Isaac Sim version (if using): 2022.2.1

I tried motion_gen_reacher.py omni_python examples/isaac_sim/motion_gen_reacher.py --robot /path/to/kinova_gen3.yml --visualize_spheres

            result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config)
            
            succ = result.success.item()
            print(result.status, result.success.item())

and always got "Opt Fail" by print(result.status, result.success.item())

I don't know how to solve this error,

Issue Details

Thanks

[balakumar-s]

Did you try moving the target cube to different positions?

[simanxu]

Yes, I have tried different positions, and always got the same output.
Printed info was generated by the follow code

            result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config)        
    
            succ = result.success.item()
            // print solve info here
            print(result.status, result.success.item(), result.trajopt_time, result.trajopt_attempts)

If I ignored the 'Opt Fail' error, the robot can still move to the target cube positions.

[simanxu]

As mentioned above