[isaacsim.robot_motion.schema] Isaac Sim Robot Motion Schema#
Version: 0.2.0
Overview#
The isaacsim.robot_motion.schema extension provides a USD schema for motion planning functionality in Isaac Sim. The extension defines the IsaacMotionPlanningAPI, which can be applied to USD prims to enable collision-aware motion planning capabilities for robotic applications.
Key Components#
IsaacMotionPlanningAPI Schema#
The extension defines a single-apply API schema that adds motion planning attributes to USD prims. The schema includes collision detection configuration for motion planning operations, allowing developers to specify whether collision checking should be enabled for specific prims during motion planning calculations.
Schema Application API#
The extension provides the apply_motion_planning_api function to programmatically apply the IsaacMotionPlanningAPI to USD prims. This function handles the proper application of the schema and optionally sets the collision-enabled attribute in a single operation.
from isaacsim.robot_motion.schema import apply_motion_planning_api
import omni.usd
stage = omni.usd.get_context().get_stage()
robot_prim = stage.GetPrimAtPath("/World/Robot")
apply_motion_planning_api(robot_prim, enabled=True)
Functionality#
The schema enables motion planning systems to identify which prims should participate in collision detection during path planning operations. By applying the IsaacMotionPlanningAPI to robot components or environmental objects, motion planning algorithms can determine which elements require collision avoidance calculations.
The schema’s collision-enabled attribute provides fine-grained control over collision detection behavior, allowing developers to selectively enable or disable collision checking for specific prims based on their motion planning requirements.
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.schema
Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.
[dependencies]
"isaacsim.robot_motion.schema" = {}
Open the Window > Extensions menu in a running application instance and search for isaacsim.robot_motion.schema.
Then, toggle the enable control button if it is not already active.