Balakumar Sundaralingam comments

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                                            Balakumar Sundaralingam

Error when running isaac sim docker

Can you paste here the output of nvidia-smi?

Error when running isaac sim docker

Thanks @Yucheng-Tang for finding this solution.

Runtime Error: Constrained Motion Planning

It looks like warmup failed. Can you warmup with an empty world and then add your world? You can do that by: 1. passing `collision_cache = {"obb": 10}` to `MotionGenConfig.load_from_robot_config`...

Runtime Error: Constrained Motion Planning

Is it possible for you to share the full python file including the imports?

Runtime Error: Constrained Motion Planning

Hi, does your code require any additional input to generate your error? I can debug by running your code but currently it looks like it needs additional information.

Runtime Error: Constrained Motion Planning

We have changed the graph so that warmup is not required before adding a waypoint. This should fix your issue. Please re-open if it doesn't.

Add use_link_poses to motion_gen warmup

This might also need an argument to specify which links to omit. Instead if you want to only plan for end-effector, you should load the robot yaml file and then...

Collapses occur when moving the target cube in the example batch_motion_gen_reacher

We are working on a fix, the alternative is to comment out the next line which is `motion_gen.warmup()`.

Collapses occur when moving the target cube in the example batch_motion_gen_reacher

Fixed in latest main. Feel free to re-open if issue still persists.

Fix repeated application of scale to velocity joint limits

Thanks for this fix, let me go through the MR to understand why scale was being applied twice.