├── .gitignore ├── .gitmodules ├── README.md ├── assets ├── my_franka │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── finger.stl │ │ │ ├── hand.obj │ │ │ ├── hand.stl │ │ │ ├── hand_flipped.obj │ │ │ ├── hand_gripper.obj │ │ │ ├── hand_gripper.stl │ │ │ ├── hand_gripper_flipped.obj │ │ │ ├── link0.obj │ │ │ ├── link0.stl │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.obj │ │ │ ├── link3.stl │ │ │ ├── link4.obj │ │ │ ├── link4.stl │ │ │ ├── link5.obj │ │ │ ├── link5.stl │ │ │ ├── link6.obj │ │ │ ├── link6.stl │ │ │ ├── link7.obj │ │ │ └── link7.stl │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── graspnet_panda_mesh.obj │ │ │ ├── hand.dae │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── hand_ee_link.dae │ │ │ ├── hand_gripper.obj │ │ │ ├── hand_gripper.stl │ │ │ ├── link0.dae │ │ │ ├── link0.mtl │ │ │ ├── link0.obj │ │ │ ├── link0.obj.mtl │ │ │ ├── link1.dae │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link1.obj.mtl │ │ │ ├── link2.dae │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link2.obj.mtl │ │ │ ├── link3.dae │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link3.obj.mtl │ │ │ ├── link4.dae │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link4.obj.mtl │ │ │ ├── link5.dae │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link5.obj.mtl │ │ │ ├── link6.dae │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ ├── link6.obj.mtl │ │ │ ├── link7.dae │ │ │ ├── link7.mtl │ │ │ ├── link7.obj │ │ │ ├── link7.obj.mtl │ │ │ └── train_gripper.obj │ ├── my_franka.urdf │ ├── my_franka_robot_config.yml │ └── my_franka_world_config.yml └── ur5 │ ├── .thumbs │ └── 256x256 │ │ └── ur5.usd.png │ ├── meshes │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae │ ├── ur5.urdf │ ├── ur5.usd │ ├── ur5_lula_config.yaml │ ├── ur5_robot_config.yml │ └── ur5_world_config.yml ├── config ├── batch_ik_user_config.toml ├── default_user_config.toml └── isaac_sim_user_config.toml ├── config_isaac_sim_curobo_motion_generator.sh ├── examples ├── forward_kinematics.py ├── inverse_kinematics.py ├── motion_generation.py └── motion_generation_with_collision_avoidance.py ├── isaac_sim_motion_generator ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-310.pyc │ └── curobo_motion_generator.cpython-310.pyc └── curobo_motion_generator.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/.gitmodules -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/README.md -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/finger.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/finger.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/finger.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/finger.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/hand.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/hand.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/hand.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/hand.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/hand_flipped.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/hand_flipped.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/hand_gripper.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/hand_gripper.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/hand_gripper.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/hand_gripper.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/hand_gripper_flipped.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/hand_gripper_flipped.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link0.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link0.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link1.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link1.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link2.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link2.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link3.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link3.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link4.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link4.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link4.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link5.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link5.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link5.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link6.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link6.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link6.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link7.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link7.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/collision/link7.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/collision/link7.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/finger.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/finger.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/finger.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/finger.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/finger.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/finger.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/graspnet_panda_mesh.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/graspnet_panda_mesh.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/hand.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/hand.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/hand.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/hand.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/hand.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/hand.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/hand_ee_link.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/hand_ee_link.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/hand_gripper.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/hand_gripper.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/hand_gripper.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/hand_gripper.stl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link0.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link0.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link0.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link0.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link0.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link0.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link0.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link1.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link1.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link1.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link1.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link1.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link1.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link2.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link2.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link2.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link2.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link2.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link2.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link3.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link3.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link3.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link3.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link3.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link3.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link3.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link4.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link4.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link4.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link4.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link4.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link4.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link4.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link4.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link5.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link5.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link5.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link5.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link5.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link5.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link5.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link5.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link6.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link6.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link6.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link6.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link6.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link6.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link6.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link6.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link7.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link7.dae -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link7.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link7.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link7.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link7.obj -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/link7.obj.mtl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/link7.obj.mtl -------------------------------------------------------------------------------- /assets/my_franka/meshes/visual/train_gripper.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/meshes/visual/train_gripper.obj -------------------------------------------------------------------------------- /assets/my_franka/my_franka.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/my_franka.urdf -------------------------------------------------------------------------------- /assets/my_franka/my_franka_robot_config.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/my_franka_robot_config.yml -------------------------------------------------------------------------------- /assets/my_franka/my_franka_world_config.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/my_franka/my_franka_world_config.yml -------------------------------------------------------------------------------- /assets/ur5/.thumbs/256x256/ur5.usd.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/.thumbs/256x256/ur5.usd.png -------------------------------------------------------------------------------- /assets/ur5/meshes/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/collision/base.stl -------------------------------------------------------------------------------- /assets/ur5/meshes/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/collision/forearm.stl -------------------------------------------------------------------------------- /assets/ur5/meshes/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/collision/shoulder.stl -------------------------------------------------------------------------------- /assets/ur5/meshes/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/collision/upperarm.stl -------------------------------------------------------------------------------- /assets/ur5/meshes/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/collision/wrist1.stl -------------------------------------------------------------------------------- /assets/ur5/meshes/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/collision/wrist2.stl -------------------------------------------------------------------------------- /assets/ur5/meshes/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/collision/wrist3.stl -------------------------------------------------------------------------------- /assets/ur5/meshes/visual/base.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/visual/base.dae -------------------------------------------------------------------------------- /assets/ur5/meshes/visual/forearm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/visual/forearm.dae -------------------------------------------------------------------------------- /assets/ur5/meshes/visual/shoulder.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/visual/shoulder.dae -------------------------------------------------------------------------------- /assets/ur5/meshes/visual/upperarm.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/visual/upperarm.dae -------------------------------------------------------------------------------- /assets/ur5/meshes/visual/wrist1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/visual/wrist1.dae -------------------------------------------------------------------------------- /assets/ur5/meshes/visual/wrist2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/visual/wrist2.dae -------------------------------------------------------------------------------- /assets/ur5/meshes/visual/wrist3.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/meshes/visual/wrist3.dae -------------------------------------------------------------------------------- /assets/ur5/ur5.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/ur5.urdf -------------------------------------------------------------------------------- /assets/ur5/ur5.usd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/ur5.usd -------------------------------------------------------------------------------- /assets/ur5/ur5_lula_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/ur5_lula_config.yaml -------------------------------------------------------------------------------- /assets/ur5/ur5_robot_config.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/ur5_robot_config.yml -------------------------------------------------------------------------------- /assets/ur5/ur5_world_config.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/assets/ur5/ur5_world_config.yml -------------------------------------------------------------------------------- /config/batch_ik_user_config.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/config/batch_ik_user_config.toml -------------------------------------------------------------------------------- /config/default_user_config.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/config/default_user_config.toml -------------------------------------------------------------------------------- /config/isaac_sim_user_config.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/config/isaac_sim_user_config.toml -------------------------------------------------------------------------------- /config_isaac_sim_curobo_motion_generator.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/config_isaac_sim_curobo_motion_generator.sh -------------------------------------------------------------------------------- /examples/forward_kinematics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/examples/forward_kinematics.py -------------------------------------------------------------------------------- /examples/inverse_kinematics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/examples/inverse_kinematics.py -------------------------------------------------------------------------------- /examples/motion_generation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/examples/motion_generation.py -------------------------------------------------------------------------------- /examples/motion_generation_with_collision_avoidance.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/examples/motion_generation_with_collision_avoidance.py -------------------------------------------------------------------------------- /isaac_sim_motion_generator/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /isaac_sim_motion_generator/__pycache__/__init__.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/isaac_sim_motion_generator/__pycache__/__init__.cpython-310.pyc -------------------------------------------------------------------------------- /isaac_sim_motion_generator/__pycache__/curobo_motion_generator.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/isaac_sim_motion_generator/__pycache__/curobo_motion_generator.cpython-310.pyc -------------------------------------------------------------------------------- /isaac_sim_motion_generator/curobo_motion_generator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/isaac_sim_motion_generator/curobo_motion_generator.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Auromix/isaac_sim_motion_generator/HEAD/setup.py --------------------------------------------------------------------------------