Plan_single_js Generate Collision Trajectory

[Alice-ly]

Hi, I have been using curobo for months and it performs quite well when there is no obstacle in the world, but when I add an obstacle in the world(for example a box from Rviz scene objects), curobo will generate trajectory that does not avoid the obstacle totally.

And I have tried several parameters to fix the bug (shown below), some parameters do make a difference, but it still can't avoid obstacles in all cases.
This is the function I use :

These are parameters I have tried to change:
particle_trajopt.yml

gradient_trajopt.yml

And I feel that only activation distance changed the trajectory, when activation distance raises, the trajectory will avoid the obstacles but sometimes it still move through the obstacle directly.
Could you please offer some more ideas on how to fix this problem? thank you very much !

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Issue Details

[balakumar-s]

Are you using it though ROS or directly in python? If through python, can you provide a minimal example of the issue?

If through ROS, can you ask your question here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cumotion/issues

[Alice-ly]

Are you using it though ROS or directly in python? If through python, can you provide a minimal example of the issue?

If through ROS, can you ask your question here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cumotion/issues
Thank you !
And I have figured out what the problem is!
It's because the base_frame set in my XRDF file is wrong, what I use in my XRDF file is different from the one the world model use, so that the manipulator's place the code calculated is not what I see in Rviz.