Isaac for Manipulation Tutorials with Isaac Sim#

Overview#

The Isaac for Manipulation tutorials with Isaac Sim demonstrate GPU-accelerated manipulation workflows in a simulated environment. These tutorials cover a range of manipulation capabilities from basic motion planning to complex assembly tasks.

All tutorials leverage:

Isaac ROS cuMotion for optimal-time, collision-free trajectory generation
Isaac Sim for high-fidelity robot simulation
Perfect ground truth depth from simulation for accurate obstacle detection
Rectified image streams that eliminate the need for lens distortion correction

Available Tutorials#

Basic Motion Planning#

Pose to Pose Planning

Start here to learn basic obstacle-aware motion planning. The robot moves between two predetermined poses while avoiding obstacles in the workspace.

Perception-Based Manipulation#

Object Following

Learn how to use perception models (FoundationPose or DOPE) to track and follow objects in real-time while avoiding obstacles.

Complete Pick and Place Workflows#

Implement a full pick and place pipeline that combines perception, grasping, and motion planning to manipulate objects. Learn how to author custom grasps for improved reliability.

Advanced Assembly Tasks#

Explore complex assembly workflows including multi-step gear assembly and learning-based insertion policies.