https://github.com/auromix/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.
https://github.com/auromix/isaac_sim_motion_generator
isaac-sim motion-planning robot
Last synced: 3 months ago
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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.
- Host: GitHub
- URL: https://github.com/auromix/isaac_sim_motion_generator
- Owner: Auromix
- Created: 2024-06-28T03:07:10.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-10-23T03:56:21.000Z (12 months ago)
- Last Synced: 2025-06-06T23:07:31.295Z (4 months ago)
- Topics: isaac-sim, motion-planning, robot
- Language: Python
- Homepage:
- Size: 54.6 MB
- Stars: 27
- Watchers: 0
- Forks: 3
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# ðĶī 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.
## âïļ 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:
```bash
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:
```bash
cd isaac_sim_motion_generator
git submodule init
git submodule update
```
Navigate to the curobo directory and install dependencies and curobo:
```bash
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](https://curobo.org/get_started/1_install_instructions.html) for troubleshooting steps and additional information.
#### Step 3: Configure curobo for isaac sim curobo motion generator
```bash
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](https://curobo.org/) 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`.
## ð Quickstart
## Forward kinematics
```bash
omni_python examples/forward_kinematics.py
```
## Inverse kinematics
```bash
omni_python examples/inverse_kinematics.py
```
## Motion generation
```bash
omni_python examples/motion_generation.py
```
```bash
omni_python examples/motion_generation_with_collision_avoidance.py
```