0. Franka Planning

Franka Planning Understanding

Motion Planning is always challenging and complex to tune. Every time you want to plan a motion, you need to tune the rotation convention, the planning library, etc. We provide a simple tutorial to show you how to plan a motion for the Franka robot.

First, you need to install curobo. RoboVerse provides a clean readme to help you install the dependencies. Follow the link to install them!

Then run:

python get_started/motion_planning/0_franka_planning.py --sim <simulator>

Here is a visualization of how we plan the motion for the Franka robot:

You will get the following videos:

Isaac Lab

Isaac Gym

Genesis