cuRobo solves IK but not Motions for custom robot -- consider warning about invalid velocity limits?

[peter-mitrano-bg]

Hello! I was debugging why MotionGen was failing to solve for my robot, even though IK was working. After a while I figured out it was because my URDF doesn't have valid velocity (or effort, but I don't think that's used) limits, they were just 0. This caused the LFBGS solver to explode and the cost become NaN.

I would suggest putting a warning in the code to mitigate this issue, since not all URDFs are perfect. For example in bound_cost.py, perhaps at configuration time to avoid slowing down the solver?

I can try to make a pull request, if someone has the time to review & merge it 🙂

[balakumar-s]

It's been added here:

curobo/src/curobo/rollout/cost/bound_cost.py

Line 59 in 7196be7

log_error("Joint velocity limits is zero")