how to run collision check IK for custom robots. about curobo HOT 5 CLOSED

For the moment I think they only support collision spheres:

https://curobo.org/source/tutorials/1_robot_configuration.html

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For the moment I think they only support collision spheres:

https://curobo.org/source/tutorials/1_robot_configuration.html

Thank you for the link. That leads to my other question, it seems they only support issac sim 2022, which I only have Isaac 2023

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There is a tutorial you can build a collision model from a urdf here: https://curobo.org/source/tutorials/1_robot_configuration.html

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This code could be modified to automatically create sphere models from meshes, but would requite a bit of integration work: https://github.com/mlund/spheretree

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We looked at similar methods, we could not get it to work robustly on arbitrary meshes. Hence, went the route of using Isaac Sim's sphere utility to build the sphere model, where users can visually inspect the spheres. I do agree that having an automatic way will make it easy to use even if it is not an exact method.

I will close this issue as there is no timeline on getting this working. Feel free to re-open the issue if there is an easy way to create spheres.

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