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Robot Motion Generation APIs#

Isaac Sim 6.0 deprecates the isaacsim.robot_motion.lula, isaacsim.robot_motion.motion_generation, and related example/test-widget extensions. Use isaacsim.robot_motion.experimental.motion_generation together with the isaacsim.robot_motion.cumotion and isaacsim.robot_motion.pink integrations for new motion-generation work. cuMotion is the updated version of Lula, and most Lula algorithms have an equivalent in the new isaacsim.robot_motion.cumotion extension.

Concept Mapping#

Deprecated extension or workflow

Replacement

isaacsim.robot_motion.lula

Use isaacsim.robot_motion.experimental.motion_generation as the common API layer. Use isaacsim.robot_motion.cumotion for GPU-accelerated planning/control and isaacsim.robot_motion.pink for differential inverse kinematics.

isaacsim.robot_motion.motion_generation

isaacsim.robot_motion.experimental.motion_generation.

isaacsim.robot_motion.motion_generation.lula

isaacsim.robot_motion.cumotion. cuMotion is the updated version of Lula.

Motion-generation examples (in 5.1, the Follow Target and Path Planning samples in isaacsim.examples.interactive; in 6.0 also the deprecated isaacsim.robot_motion.motion_generation.examples extension)

isaacsim.robot_motion.cumotion.examples, isaacsim.robot_motion.pink.examples, and the tutorials under the Robot Motion Experimental, cuMotion, and PINK doc sections.

isaacsim.robot_motion.lula_test_widget

No direct widget replacement; use the current examples and Python APIs.

Migration Approach#

Follow these steps to migrate each workflow:

  1. Replace direct dependencies on Lula and legacy motion-generation extensions with isaacsim.robot_motion.experimental.motion_generation and the integration package required by the algorithm you use.

  2. Move controller code to the common RobotState and BaseController interfaces documented in the experimental motion-generation API.

  3. For collision-aware planning, generate or update XRDF robot configuration files and use the cuMotion tutorials.

  4. For reactive inverse kinematics (IK), use the PINK integration and load supported or custom robot configurations through the PINK helper APIs.

Dependency Changes#

Choose the common API plus the solver integration you use:

# Common motion-generation state, controller, trajectory, and world APIs
"isaacsim.robot_motion.experimental.motion_generation" = {}

# GPU-accelerated planning/control integration
"isaacsim.robot_motion.cumotion" = {}

# Reactive differential IK integration
"isaacsim.robot_motion.pink" = {}

Validation Checklist#

Verify the following before merging the migration:

  • The migrated code checks controller reset() return values before calling forward().

  • Controller and trajectory forward() / get_target_state() callers handle None results as invalid or unavailable output.

  • Collision-aware planning passes with the updated XRDF configuration and world-interface synchronization path.