Custom Inverse kinematic solver and trajectory generation

Omniverse Isaac Sim
1

Isaac Sim Version
4.5.0

Operating System
Ubuntu 22.04

GPU Information
Model: rtx 4070 ti super
Driver Version: 550.144.03

Custom inverse Kinematics solvers and Motion planners

  • Isaac sim comes with Lula RRT and RMPflow for inverse kinematics solvers and trajectory generation for robot maniplulators like UR10, franka etc.

  • But there is no documentation on how to use other motion path planners such as ompl ones.

  • I know there is isaac-ros which just connects the moveit instance of robot with isaac sim robot and one can change path planner in moveit.

  • But I am not interested in this framework where one just uses moveit as master and isaac sim as slave robot just using ros as data transmission framework

  • Would like to know to how to integrate custom inverse kinematics solvers and trajectory generation directly in isaac sim 4.5

  • As curobo is just supported only til isaac sim 4.2 and in curobo git repo the maintainer also did not mention any prospects of making curobo compatible with isaac sim 4.5

  • I know one can use cumotion with isaac-ros to control robot in isaac sim, but again it just cumotion is used in moveit to move robot and isaac sim robot just copies the motion.

  • Why isn’t there any documentation or a way to use multiple / different solvers natively in isaac sim ?

  • The method of using isaac-ros with moveit seems like hacky way at best to use custom path planners with isaac sim.

  • would love to know whether will there be any possibility for integrating path planners other than lula rrt and rmpflow in isaac sim 4.5 natively?

2

Currently we don’t have plan to integrate other path planners to Isaac Sim.

But the motion generation is designed to be extensible so feel free to integrate any IK solvers or motion planners you prefer to use

Please check out the following tutorials:

4

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