NVlabs
robot can't reach the expected position
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:
- cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]):python
- python version: 3.10
- Isaac Sim version (if using): 4.2.0
- NVIDIA driver: 535.230.02
- CUDA verison: 11.8
Issue Details
when I run omni_python examples/isaac_sim/batch_motion_gen_reacher.py, the robot can't reach the expected position
When I run omni_python examples/isaac_sim/motion_gen_reacher.py, I meet the same issue
If I use isaac-sim 4.0.0, the robot also can't reach the expected position. My isaac-sim is from docker `
Can you try the latest commit? We increased the velocity threshold: https://github.com/NVlabs/curobo/blob/0a50de1ba72db304195d59d9d0b1ed269696047f/examples/isaac_sim/motion_gen_reacher.py#L365
yeah, it's the same. I also have tried different isaac-sim verison, 4.0.0, 4.2.0. All are the same problem
Is it possible to use Isaac Sim 4.5? [I am not sure if the Isaac Sim version is the problem, but we just tested this example on Isaac Sim 4.5, so it should definitely work]
I also use sim 4.5. It's the same problem. When I run omni_python -m pytest ., I got:
19:36:44 in curobo on main [?]
➜ omni_python -m pytest .
=============================================================================================================================== test session starts ===============================================================================================================================
platform linux -- Python 3.10.15, pytest-8.3.5, pluggy-1.5.0
rootdir: /home/chris/curobo
configfile: pyproject.toml
plugins: anyio-4.6.2.post1
collected 264 items / 4 skipped
tests/cost_test.py . [ 0%] tests/cuda_graph_test.py . [ 0%] tests/cuda_robot_generator_test.py .... [ 2%] tests/curobo_robot_world_model_test.py ............ [ 6%] tests/curobo_version_test.py . [ 7%] tests/geom_test.py ...... [ 9%] tests/geom_types_test.py ...... [ 11%] tests/goal_test.py .. [ 12%] tests/ik_config_test.py .... [ 14%] tests/ik_module_test.py ...... [ 16%] tests/ik_test.py ..... [ 18%] tests/interpolation_test.py . [ 18%] tests/kinematics_test.py ....... [ 21%] tests/mimic_joint_test.py .. [ 21%] tests/motion_gen_api_test.py ... [ 23%] tests/motion_gen_constrained_test.py ............................ [ 33%] tests/motion_gen_cuda_graph_test.py ............. [ 38%] tests/motion_gen_eval_test.py ...... [ 40%] tests/motion_gen_goalset_test.py ... [ 42%] tests/motion_gen_js_test.py ...... [ 44%] tests/motion_gen_module_test.py ...sss.s.....sss.......... [ 54%] tests/motion_gen_speed_test.py .......................... [ 64%] tests/motion_gen_test.py ... [ 65%] tests/mpc_test.py ..... [ 67%] tests/multi_pose_test.py ...... [ 69%] tests/pose_reaching_test.py .. [ 70%] tests/pose_test.py .. [ 70%] tests/robot_assets_test.py ............... [ 76%] tests/robot_config_test.py ... [ 77%] tests/robot_world_model_test.py ............ [ 82%] tests/self_collision_test.py ...... [ 84%] tests/trajopt_config_test.py .... [ 85%] tests/trajopt_test.py .......... [ 89%] tests/voxel_collision_test.py ......... [ 93%] tests/voxelization_test.py .......... [ 96%] tests/warp_mesh_test.py ... [ 98%] tests/world_config_test.py ... [ 99%] tests/xrdf_test.py .. [100%]
================================================================================================================================ warnings summary ================================================================================================================================= tests/pose_test.py::test_pose_transform_point_grad /home/chris/isaacsim-4.5.0/exts/omni.isaac.ml_archive/pip_prebundle/torch/autograd/gradcheck.py:919: UserWarning: Input #0 requires gradient and is not a double precision floating point or complex. This check will likely fail if all the inputs are not of double precision floating point or complex. warnings.warn(
tests/pose_test.py::test_pose_transform_point_grad /home/chris/isaacsim-4.5.0/exts/omni.isaac.ml_archive/pip_prebundle/torch/autograd/gradcheck.py:919: UserWarning: Input #1 requires gradient and is not a double precision floating point or complex. This check will likely fail if all the inputs are not of double precision floating point or complex. warnings.warn(
tests/xrdf_test.py: 12 warnings /home/chris/isaacsim-4.5.0/kit/python/lib/python3.10/site-packages/yourdfpy/urdf.py:1076: DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.) matrix = origin @ tra.rotation_matrix(float(q), joint.axis)
-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html ============================================================================================================ 257 passed, 11 skipped, 14 warnings in 250.76s (0:04:10) =============================================================================================================
And when I run omni_python -m pip install -e ".[isaacsim]" --no-build-isolation, I got:
Successfully built nvidia_curobo
Installing collected packages: xxhash, warp-lang, vhacdx, triton, trimesh, tqdm, tifffile, svg.path, shapely, scipy, rtree, rpds-py, pybind11, mapbox_earcut, manifold3d, lazy-loader, importlib-resources, imageio, h11, embreex, colorlog, scikit-image, referencing, pycollada, httpcore, jsonschema-specifications, httpx, jsonschema, yourdfpy, nvidia_curobo
Attempting uninstall: scipy
Found existing installation: scipy 1.10.1
Uninstalling scipy-1.10.1:
Successfully uninstalled scipy-1.10.1
Attempting uninstall: imageio
Found existing installation: imageio 2.22.2
Uninstalling imageio-2.22.2:
Successfully uninstalled imageio-2.22.2
Attempting uninstall: h11
Found existing installation: h11 0.14.0
Uninstalling h11-0.14.0:
Successfully uninstalled h11-0.14.0
ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts.
nvidia-srl-usd 0.19.1 requires usd-core<24.00,>=21.11, which is not installed.
nvidia-srl-usd-to-urdf 0.7.2 requires usd-core<24.00,>=21.11, which is not installed.
nvidia-srl-usd-to-urdf 0.7.2 requires lxml<5.0.0,>=4.9.2, but you have lxml 5.3.0 which is incompatible.
osqp 0.6.5 requires scipy<1.12.0,>=0.13.2, but you have scipy 1.15.2 which is incompatible.
torchaudio 2.5.0+cu118 requires torch==2.5.0, but you have torch 2.5.1+cu118 which is incompatible.
Successfully installed colorlog-6.9.0 embreex-2.17.7.post6 h11-0.16.0 httpcore-1.0.9 httpx-0.28.1 imageio-2.37.0 importlib-resources-6.5.2 jsonschema-4.23.0 jsonschema-specifications-2025.4.1 lazy-loader-0.4 manifold3d-3.0.1 mapbox_earcut-1.0.3 nvidia_curobo-0.7.7 pybind11-2.13.6 pycollada-0.9 referencing-0.36.2 rpds-py-0.24.0 rtree-1.4.0 scikit-image-0.25.2 scipy-1.15.2 shapely-2.1.0 svg.path-6.3 tifffile-2025.3.30 tqdm-4.67.1 trimesh-4.6.8 triton-3.1.0 vhacdx-0.0.8.post2 warp-lang-1.7.0 xxhash-3.5.0 yourdfpy-0.0.57
[notice] A new release of pip is available: 24.0+nv1 -> 25.0.1 [notice] To update, run: /home/chris/isaacsim-4.5.0/kit/python/bin/python3 -m pip install --upgrade pip
I am not sure whether these warning and errors will effect the result of motion_gen_reacher.py or not.