CUDA Accelerated Robot Library
Check curobo.org for installing and getting started with examples!
Use Discussions for questions on using this package.
Use Issues if you find a bug.
cuRobo's collision-free motion planner is available for commercial applications as a MoveIt plugin: Isaac ROS cuMotion
For business inquiries of this python library, please visit our website and submit the form: NVIDIA Research Licensing
cuRobo is a CUDA accelerated library containing a suite of robotics algorithms that run significantly faster than existing implementations leveraging parallel compute. cuRobo currently provides the following algorithms: (1) forward and inverse kinematics, (2) collision checking between robot and world, with the world represented as Cuboids, Meshes, and Depth images, (3) numerical optimization with gradient descent, L-BFGS, and MPPI, (4) geometric planning, (5) trajectory optimization, (6) motion generation that combines inverse kinematics, geometric planning, and trajectory optimization to generate global motions within 30ms.
cuRobo performs trajectory optimization across many seeds in parallel to find a solution. cuRobo's trajectory optimization penalizes jerk and accelerations, encouraging smoother and shorter trajectories. Below we compare cuRobo's motion generation on the left to a BiRRT planner for the motion planning phases in a pick and place task.
- Clone this repository
cd ~/
git clone [email protected]:makolon/curobo.git
- Build docker
cd ~/curobo
./docker/build_docker.sh isaac_sim_2023.1.0
- Run docker
cd ~/curobo
./docker/start_docker.sh isaac_sim_2023.1.0
Note
In the current version, it is necessary to execute the following command to reflect the changes made to curobot in the source code.
cd ~/curobo && omni_python -m pip install .[dev] --no-build-isolation
It takes about 10 minutes.
Firstly, check whether the omni_python command can be run.
Then, run the following command.
omni_python examples/isaac_sim/motion_gen_reacher.py --robot xarm7.yml --external_robot_configs_path /pkgs/curobo/src/curobo/content/configs/robot/
If you found this work useful, please cite the below report,
@misc{curobo_report23,
title={cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation},
author={Balakumar Sundaralingam and Siva Kumar Sastry Hari and Adam Fishman and Caelan Garrett
and Karl Van Wyk and Valts Blukis and Alexander Millane and Helen Oleynikova and Ankur Handa
and Fabio Ramos and Nathan Ratliff and Dieter Fox},
year={2023},
eprint={2310.17274},
archivePrefix={arXiv},
primaryClass={cs.RO}
}