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Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
NVIDIA-accelerated packages for arm motion planning and control
| Date | Stars |
|---|---|
| 2026-07-24 | 262 |
| 2026-07-25 | 262 |
| 2026-07-28 | 262 |
| 2026-07-30 | 262 |
| 2026-08-06 | 262 |
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# Isaac ROS cuMotion NVIDIA accelerated packages for arm motion planning and control <div align="center"><a class="reference internal image-reference" href="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.5/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_cumotion/cumotion_ur10_demo.gif/"><img alt="image" src="https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.5/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_cumotion/cumotion_ur10_demo.gif/" width="600px"/></a></div> ## Overview Isaac ROS cuMotion provides CUDA-accelerated manipulation capabilities for robots in ROS 2. It integrates [cuMotion](https://nvidia-isaac-ros.github.io/concepts/manipulation/index.html#concept-cumotion) into MoveIt 2 to generate smooth, collision-free trajectories, and also exposes cuMotion inverse kinematics and trajectory generation capabilities through ROS 2 actions/services. Support is provided for segmenting and filtering the robot itself from the depth streams. The key advantages of using Isaac ROS cuMotion are: * **Improved cycle times:** cuMotion produces smooth, optimal-time trajectories in the presence of obstacles, generally reducing motion times compared to previous state-of-the-art planners. In cluttered environments and other challenging scenarios, cuMotion can often produce a valid trajectory when other planners might fail altogether. * **Improved planning times:** cuMotion takes advantage of CUDA acceleration to produce collision-free, optimal-time trajectories in a fraction of a second. * **Avoidance of obstacles captured by depth cameras:** cuMotion optionally leverages [nvblox](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nvblox/index.html) to perform 3D reconstruction of an environment from one or more depth image streams. The environment is represented as a signed distance field (SDF) for efficient obstacle-aware planning. Support is provided for segmenting and filtering the robot itself from the depth streams. * **Flexibility:** A modular design simplifies integration with existing ROS 2 workflows, especially those already using MoveIt 2. > [!Warning] > Before using or developing with cuMotion or other Isaac for Manipulation software, > familiarize yourself with the associated safety information that is provided by your robot > manufacturer. > In addition, we provide the following best practices: > 1. Familiarize yourself with the location of the emergency stop buttons, and be prepared to apply if necessary. > 2. Before operation, ensure the working area is free of any persons or other potential hazards. > 3. Before operation, alert all persons near the working area that robot operation is about to begin. > 4. Before and during operation, be aware of any persons entering the vicinity around the working area, > and be prepared to give necessary warnings, instructions, or take other necessary actions. > 5. Take extra caution when testing or deploying new features or code. Examples are provided for three modes of operation: * **Standalone MoveIt:** MoveIt’s RViz interface allows trajectories to be planned and visualized even without a physical robot or external simulator. * **Simulated robot (Isaac Sim):** Trajectories may be planned and executed on a simulated robot in [Isaac Sim](https://developer.nvidia.com/isaac/sim), allowing convenient development and rapid iteration without use of physical hardware. Simulated sensors enable testing of perception, for example, for the purpose of collision avoidance. * **Physical robot:** For on-robot testing and final deployment, trajectories are planned and executed on a physical robot. The Isaac ROS cuMotion repository currently contains the following packages: `isaac_ros_cumotion`: : This package contains the cuMotion planner node that provides the ROS 2 interfaces for inverse kinematics and motion generation using cuMotion. `isaac_ros_cu
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matched fp:0c23d615c2d15faf, topic:ros, topic:ros2, topic:manipulation