Planning Demo with Custom Robot Don't Work Properly

[ruoxianglee]

Hi,

I am new for using Maniskill and mplib. Now I am trying to collect demos via motion planning by mplib 0.1.1 in Maniskill 3.0.0b12 environment.

I add a new custom robot into Maniskill environment. The srdf is generated by calling generate_srdf functioin in mplib.urdf_utils (based on mplib 0.2.1. It seem mplib 0.1.1 does not support generate_srdf function.).

The planning demo is here following the examples.

When I run demo.py with demo_setup_delta.py for testing the custom robot, I got the following logs.

/home/eric/anaconda3/envs/maniskill/lib/python3.9/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find Vulkan ICD file. This is probably due to an incorrect or partial installation of the NVIDIA driver. SAPIEN will attempt to provide an ICD file anyway but it may not work. warn( Warning: link 'camera_hand_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Warning: link 'camera_hand_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Warning: link 'camera_base_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Warning: link 'camera_base_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Warning: link 'camera_hand_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Warning: link 'camera_hand_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Warning: link 'camera_base_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Warning: link 'camera_base_link' material 'aluminum' undefined. at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 3.2% joint limits. Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 0.8% joint limits. RRT Failed. Approximate solution Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 1% joint limits. RRT Failed. Approximate solution Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 1.4% joint limits. RRT Failed. Approximate solution Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 1.3% joint limits. RRT Failed. Approximate solution Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 1.2% joint limits. RRT Failed. Approximate solution IK Failed! Cannot find valid solution. IK Failed! Cannot find valid solution. IK Failed! Cannot find valid solution. IK Failed! Cannot find valid solution. IK Failed! Cannot find valid solution. IK Failed! Cannot find valid solution. Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 1.8% joint limits. RRT Failed. Approximate solution Invalid start state! link_4 and link_6 collide! invalid start state!! (collision) sampled a new state with a perturbation of 1.3% joint limits.

I tried both move_to_pose_with_screw and move_to_pose_with_RRTConnect. The results are similar. The robot can do actions in sapien UI, but it seems the planning for this custom robot doesnot work well (it failed picking and moving the boxes).

Are there any suggestions for this issue? it is difficult for me to figure out the reason. My guess is my urdf or srdf has some issues. But I am not sure.

Thanks in advance.