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[isaacsim.robot_motion.examples] Robot Motion Examples#

Version: 0.2.6

Robot Motion Examples#

This extension contains robot-independent examples built on isaacsim.robot_motion.experimental.motion_generation.

The manipulation package has three boundaries:

  • robots.py declares named joint defaults, USD variants, measured links, controller frames, and grasp transforms for Franka and UR10.

  • ManipulationScenario creates a plain Articulation, reads measured joints and tool sites into RobotState, applies desired RobotState, and synchronizes the collision world.

  • Examples construct RMPFlow, PickPlaceController, and gripper controllers directly.

The Omniverse Behavior Tree example shares one cuMotion RMPflow controller per Franka across its action nodes. Both robot roots and the manipulated cubes are excluded from each controller’s collision world, so inter-robot coordination is provided by the shared center lock rather than cuMotion collision avoidance. If motion to a moved cube does not converge, recovery retains the reservation, keeps trying, and logs a warning every five seconds. Moving the cube to a reachable pose lets the same robot resume the pickup.

PickPlaceController captures immutable pick/place goals at reset. Motion phases advance only after the measured tool pose remains within tolerance; gripper phases also require observable completion. Active-phase timeouts report failure. Stacking sequences these same pick/place goals.

ManipulationScenario accepts an explicit RobotConfig, and PickPlaceController accepts an injected arm controller. Callers that assemble these components directly can use an RmpFlowController constructed from a compatible CumotionRobot. PickPlaceTask uses the packaged robot configurations.

Interactive samples are registered in Window > Examples > Robotics Examples.

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.examples

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

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

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