Does isaac ROS cuMotion also use Batched Collision-Free Inverse Kinematics and Model Predictive Control (MPC) with MPPI models of cuRobo? I want to utilize most of the capabilities of cuRobo in isaac sim, but I also want ROS wrapper with those, so I’m wondering if cuMotion utilises all capabilities of cuRobo?
Hello @falgun-kumar.sinha,
Welcome to the forum and thanks for the post!
The isaac ROS cuMotion package focuses on basic kinematics & motion primitives for live robot control and integration for real-time ROS environments. As forcuRobo, it utilizes advanced techniques like BCFIK, MPC (with MPPI/TrajOpt), trajectory optimization etc., which are computationally intensive, often requiring large, fast CUDA kernels and extensive GPU memory.
If you want to utilize the advanced capabilities like BCFIK and MPPI with a ROS wrapper, you could run the advanced motion planning inside Isaac Sim and connect it to the ROS ecosystem with Isaac Sim ROS 2 Bridge.