Batch Collision-Free IK with Different Fixed Base Transforms per Batch Element

[j-hae1]

If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions

Please provide the below information in addition to your issue:

1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): python
2. python version: 3.10
3. Isaac Sim version (if using): no

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Issue Details

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Description

Hi,

I am trying to understand whether cuRobo supports the following use case.

From this example:

https://github.com/NVlabs/curobo/blob/main/examples/ik_example.py

I can see that batch collision-free IK is supported (e.g., solve_batch, solve_batch_env, solve_batch_goalset, etc.).

However, in all examples, the robot base appears to be fixed at the identity transform
(position = (0, 0, 0), orientation = identity quaternion).

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What I Want to Do

I would like to solve batch collision-free IK for:

• The same robot model
• The same static world (same fixed collision objects)
• Multiple target end-effector poses

But with the following additional requirement:

Different Fixed Base per Batch Element

For each IK instance in the batch:

• The robot base is fixed
• The base transform can differ across batch elements
• The base is not optimized (not a decision variable)
• Only joint angles are solved

Conceptually:

• Batch size = N
• Same robot kinematics
• Same environment
• N different fixed base transforms
• N different target poses
• Solve collision-free IK for all in batch

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Question

Is it currently supported to provide a different fixed base transform per batch element when running collision-free batch IK?

If not, what would be the recommended way to implement this?

For example:

• Should I modify the base pose in RobotConfig per batch element?
• Is there a built-in way to pass per-instance base transforms?
• Or would this require modifying the internal kinematics/collision pipeline?

Thank you for your guidance.

[balakumar-s]

Could you get the same output by duplicating the world N times and changing the pose of the world w.r.t. robot base frame and solve as a batched_env IK?