I want to make the aerial platform of this “cherry picker” machine follow a curve path that I created in Rhino, mimicking this motion (a point in the edge of the platform moving along the curve path):
Since Rhino curves cannot be imported to Omniverse, I generated a pipe surface using the curve as its extrusion rail:
Could you explain how I can create in Isaac Sim the motion shown in the video above, perhaps by using any of these methods?
- Make the point in the platform edge move along the pipe, while always staying in contact with the pipe’s surface.
- Make the said point move while always staying inside of the pipe’s volume, using collision detection to prevent it from touching the pipe or getting out of it.
Lastly, which inverse kinematics and collision detection tools would you recommend me to use (i.e., Motion Generation, Lula, cuRobo, etc.)? For this, please take into account that my knowledge of Python is limited, so it would be easier for me if I could stay working in a 3D modelling / visual scripting environment (i.e., using OmniGraph for programming instead of writing Python code).
Here you can download the USD file of the robot and the pipe; the robot is already rigged and all the joints move correctly as shown in this other video:
In advance, thanks for your attention!