How to set isaac cumotion ik planner for pick_place_demo?

[lzjie-tchip]

Hi,
I want to use isaac cumotion planner in pick_place_demo,I have successfully configured cumotion in moveit：

As I run demo.launch.py and run.launch.py,Then the following error appears

[pick_place_demo-1] [ERROR] [1744335707.491695277] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491699469] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491703629] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491707789] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491712204] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491716396] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491720556] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491724684] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491728876] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491733100] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491737323] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491741483] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491745675] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491749835] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491753995] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491758155] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491762314] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491766442] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [ERROR] [1744335707.491770698] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'arm_group' [pick_place_demo-1] [INFO] [1744335707.495314872] [moveit_task_constructor_demo]: Planning failed

I think this is because I deleted the kinematics.yaml in order to use cumotion：

run.launch.py

`import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
import yaml
import xacro

def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("x3plus", package_name="x3plus_moveit_config")
.robot_description(
file_path=os.path.join(
get_package_share_directory('x3plus_moveit_config'),
'config',
'robot_X3plus.urdf.xacro',
),
)
.robot_description_semantic(
file_path=os.path.join(
get_package_share_directory('x3plus_moveit_config'),
'config',
'robot_X3plus.srdf',
),

    )
    .robot_description_kinematics(file_path='config/kinematics.yaml')
    .trajectory_execution(file_path='config/controllers.yaml')
    .to_moveit_configs()
)

# Add cuMotion to list of planning pipelines.
cumotion_config_file_path = os.path.join(
    get_package_share_directory('x3plus_moveit_config'),
    'config',
    'isaac_ros_cumotion_planning.yaml',
)
with open(cumotion_config_file_path) as cumotion_config_file:
    cumotion_config = yaml.safe_load(cumotion_config_file)
moveit_config.planning_pipelines['planning_pipelines'].insert(
    0, 'isaac_ros_cumotion'
)
moveit_config.planning_pipelines['isaac_ros_cumotion'] = cumotion_config
moveit_config.planning_pipelines['default_planning_pipeline'] = 'isaac_ros_cumotion'


# Load  ExecuteTaskSolutionCapability so we can execute found solutions in simulation
move_group_capabilities = {"capabilities": "move_group/ExecuteTaskSolutionCapability"}

# The workarounds below are based on the following ur_moveit_config and ur_description versions
# ur_moveit_config: github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/2.2.14
# ur_description: github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/2.1.5

moveit_config.trajectory_execution = {
    'moveit_simple_controller_manager': moveit_config.trajectory_execution
}
del moveit_config.trajectory_execution['moveit_simple_controller_manager'][
    'moveit_manage_controllers'
]
moveit_config.trajectory_execution['moveit_manage_controllers'] = True
moveit_config.trajectory_execution['trajectory_execution'] = {
    'allowed_start_tolerance': 0.01
}
moveit_config.trajectory_execution['moveit_controller_manager'] = (
    'moveit_simple_controller_manager/MoveItSimpleControllerManager'
)

moveit_config.robot_description_kinematics['robot_description_kinematics'][
    'robot_manipulator'] = moveit_config.robot_description_kinematics[
        'robot_description_kinematics']['/**'][
            'ros__parameters']['robot_description_kinematics']['robot_manipulator']
del moveit_config.robot_description_kinematics['robot_description_kinematics']['/**']

moveit_config.joint_limits['robot_description_planning'] = xacro.load_yaml(
    os.path.join(
        get_package_share_directory(
            'x3plus_moveit_config'), 'config', 'joint_limits.yaml',
    )
)
moveit_config.moveit_cpp.update({'use_sim_time': True})

# Add limits from ur_moveit_config joint_limits.yaml to limits from ur_description
for joint in moveit_config.joint_limits['robot_description_planning']['joint_limits']:
    moveit_config.joint_limits['robot_description_planning']['joint_limits'][joint][
        'has_acceleration_limits'] = True
    moveit_config.joint_limits['robot_description_planning']['joint_limits'][joint][
        'max_acceleration'] = 5.0


package = "moveit_task_constructor_demo"
package_shared_path = get_package_share_directory(package)
node = Node(
    package=package,
    executable=LaunchConfiguration("exe"),
    output="screen",
    parameters=[
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
        moveit_config.robot_description_kinematics,
        moveit_config.joint_limits,
        moveit_config.planning_pipelines,
        os.path.join(package_shared_path, "config", "panda_config.yaml"),
    ],
)

arg = DeclareLaunchArgument(name="exe")
return LaunchDescription([arg, node])`

How can I use cumotion in pick_place_demo? Or how to set that in cpp code? Thanks in advance

[lzjie-tchip]

I seem to have set up cumotion successfully by:
auto sampling_planner = std::make_shared<solvers::PipelinePlanner>(node,"isaac_ros_cumotion"); sampling_planner->setProperty("goal_joint_tolerance", 1e-5); sampling_planner->setPlannerId("cuMotion");
There are still errors, though：
No kinematics solver instantiated for group 'arm_group'

But the task appears to run, but an error occurs during the grasp pose IK phase：no IK found.

But the picture shows that the cylinder should be within reach of the robot. How can I solve this problem or identify an accessible location for the robot to place the cylinder? Thanks

[lzjie-tchip]

How to ignore the posture of the gripper and only focus on reaching the object position？I think that at least keeps the movement going

[devika-dudo]

hiii!, I am also facing a similar issue with my custom robot , can you please share if you were able to
solve the issue