Configuring a new robot

[pushkalkatara]

1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): isaac sim
2. python version: 3.10.13
3. Isaac Sim version (if using): 2023.1.1

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Issue Details:

Hi, I am trying to configure a new robot arm WidowX250s into IsaacSim to use with CuRobot following the documentation here. I have modified the ik_reachability.py script to run with isaac-sim, but facing issues getting a valid IK solution. How do i debug this issue?

The wx250s.yml, modified scripts are as follows: commits
USD File: link

ik_reachability.webm

Thanks!

[balakumar-s]

Loading kinematics in cuRobo from an USD file is experimental and might not work for all robots. Based on your visualization of the robot spheres, it seems that the robot is moving in a different direction than where the spheres are moving. Is it possible to use an URDF for your robot?