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[isaacsim.robot_motion.motion_generation.examples] Motion Generation Examples#

Warning

Deprecation: Extension deprecated since Isaac Sim 6.0.0. See isaacsim.robot_motion.experimental.motion_generation and isaacsim.robot_motion.cumotion for newer motion-generation APIs and examples.

Version: 0.3.1

Overview#

Deprecated since version 6.0.0: This extension is deprecated. Use isaacsim.robot_motion.experimental.motion_generation and isaacsim.robot_motion.cumotion instead.

The isaacsim.robot_motion.motion_generation.examples extension provides interactive UI-based examples for robot motion generation concepts within Isaac Sim. This extension demonstrates various motion planning algorithms and trajectory generation techniques through hands-on examples with Franka and UR10 robots.

Each example registers a menu entry under Motion Generation Examples (RMPflow, Kinematics, RRT, Trajectory Generation).

Key Components#

Example modules#

The extension consists of four specialized example modules, each focusing on different aspects of robot motion generation:

RMP Flow#

The RMP Flow module demonstrates Riemannian Motion Policies (RMP) for reactive motion generation. It provides an interactive interface for loading Franka robot scenarios and running RMP-based motion planning algorithms that generate smooth, collision-aware trajectories in real-time.

RRT#

The RRT module showcases Rapidly-exploring Random Tree path planning algorithms. Users can experiment with probabilistic sampling-based motion planning techniques that efficiently explore the robot’s configuration space to find feasible paths from start to goal configurations.

Kinematics#

The Kinematics module focuses on fundamental robot kinematics concepts. It provides demonstrations of forward and inverse kinematics calculations, joint space manipulations, and the relationship between joint configurations and end-effector poses.

Trajectory Generator#

The Trajectory Generator module presents comprehensive trajectory planning capabilities for UR10 robots. It covers configuration space trajectories, task space trajectories, and advanced trajectory planning methods, demonstrating how to generate smooth, time-parameterized paths for robot motion.

UIBuilder Architecture#

Each example module implements a UIBuilder class that creates a standardized interface with two main control sections:

World Controls - Provides Load and Reset buttons for scene management, allowing users to initialize robot scenarios and restore default states.

Scenario Controls - Contains interactive buttons for starting and stopping motion generation demonstrations, with state-aware feedback to indicate execution status.

The UIBuilder classes handle timeline integration, physics step callbacks, and stage event management to ensure proper synchronization between the UI and Isaac Sim’s simulation systems.

Functionality#

Interactive demonstrations#

Each example provides hands-on exploration of motion generation concepts through visual demonstrations. Users can load pre-configured robot scenarios, adjust parameters, and observe real-time motion execution within the Isaac Sim environment.

Event system integration#

The extension integrates with Isaac Sim’s timeline and physics systems to provide responsive examples. Physics step callbacks ensure continuous updates during simulation, while timeline and stage event handling maintains proper state management throughout the example lifecycle.

Automated scene setup#

The examples automatically handle scene initialization including lighting setup, camera positioning, and robot asset loading. This ensures optimal visualization conditions for each demonstration without requiring manual configuration.

Dependencies#

The extension uses isaacsim.robot_motion.lula for accessing the Lula planning library functionality that powers the motion generation algorithms. It integrates with isaacsim.robot_motion.motion_generation to leverage the core motion planning infrastructure. The isaacsim.gui.components dependency provides the UI element wrappers used throughout the example interfaces.

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot_motion.motion_generation.examples

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.robot_motion.motion_generation.examples" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.robot_motion.motion_generation.examples. Then, toggle the enable control button if it is not already active.