Path Planning Basic

Warning

The AI Accelerator requires ROS 2 Humble, so PolyScope X 10.12.1 is the latest compatible release. PolyScope X 10.13 and later use ROS 2 Jazzy and are not currently supported.

This demo moves the robot between two waypoints while avoiding obstacles defined in a collision model (Isaac ROS cuMotion). For tool spheres, attachment, and joint limits in depth, see Path Planning Advanced.

What you need

  • SDK installed and running

  • Accessories box (or similar obstacle) placed on the table to match the collision model

  • Example program: ~/aia_sdk/polyscope/programs/aia_example_path_planning_basic.urpx

  • Collision file: host ~/aia_sdk/ros/data/collision_basic.yaml · container /workspaces/isaac_ros-dev/data/collision_basic.yaml (also set via collision_file in config.yaml)

Steps

Step 1 — Enter the SDK container

cd ~/aia_sdk/ros
./scripts/run_sdk_setup.sh

Step 3 — Launch path planning

./scripts/run_example_path_planning.sh

Step 4 — Align the collision model with the real scene

  1. Place the real accessories box on the table to match the model.

  2. In RViz, confirm the box pose matches the physical position.

  3. Edit collision_basic.yaml as needed. RViz updates visualization live, but restart ./scripts/run_example_path_planning.sh for cuMotion to use the new geometry.

This example does not use part attachment. If a carried part hits the box, raise/move the box in the YAML or use attachment from the advanced example.

Step 5 — Configure and run the PolyScope program

Warning

Set joint angle limits first (see Path Planning Advanced — joint limits). Full joint range can produce large unexpected wrist/base motions and tangle the camera cable. If limits are too tight, cuMotion reports IK failures — relax them slightly.

  1. Load aia_example_path_planning_basic.urpx from ~/aia_sdk/polyscope/programs/.

  2. Teach the two waypoints on either side of the accessory box.

  3. Run the program. move_path_plan sends the target to cuMotion and executes the returned trajectory.

  4. Confirm the robot moves around the box between waypoints.

  5. Optional: remove the physical box, comment it out in the collision YAML, restart ./scripts/run_example_path_planning.sh, and confirm a more direct path.