🦴 Isaac Sim Motion Generator

The Isaac Sim Motion Generator provides a framework for motion generation using cuRobo, a CUDA-accelerated library. This tool allows users to perform forward kinematics, inverse kinematics, and motion generation in Isaac Sim and real-world applications.

Note: Isaac Sim Motion Generator supports Latest Isaac Sim 4.0.0 and previous versions.

⚙️ Installation

Welcome to the Isaac Sim Motion Generator! This guide will help you install and set up the motion generation framework using curobo, and provide a quickstart for running forward kinematics, inverse kinematics, and motion generation examples in isaac sim and real world.

For Isaac Sim

Step 1: isaac sim motion generator

Navigate to the isaac_sim_motion_generator directory and install the package:

cd isaac_sim_motion_generator
# Install in isaac sim python
omni_python -m pip install -e .

Step 2: Install curobo

cuRobo is a CUDA-accelerated library offering fast robotics algorithms, including kinematics, collision checking, optimization, geometric planning, trajectory optimization, and motion generation, all running significantly faster through parallel computing.

Navigate to the curobo_motion_generation directory and initialize the submodule:

cd isaac_sim_motion_generator
git submodule init
git submodule update

Navigate to the curobo directory and install dependencies and curobo:

cd curobo
omni_python -m pip install toml wheel ninja
omni_python -m pip install -e .[isaacsim] --no-build-isolation

If you encounter any issues during the installation of curobo, please refer to the curobo installation guide for troubleshooting steps and additional information.

Step 3: Configure curobo for isaac sim curobo motion generator

cd isaac_sim_motion_generator
bash config_isaac_sim_curobo_motion_generator.sh

If you want to add your own custom robot model, please refer to the curobo for instructions on how to create a custom robot model.

For System python/Conda python

Isaac sim motion generator can also be installed in system python or conda python. It could also be used in real world.

Replace the omni_python command with the appropriate command for your python environment. For example, if you are using system python, you would use python instead of omni_python.

🏁 Quickstart

Forward kinematics

omni_python examples/forward_kinematics.py

Inverse kinematics

omni_python examples/inverse_kinematics.py

Motion generation

omni_python examples/motion_generation.py

omni_python examples/motion_generation_with_collision_avoidance.py