Embodied AI Glossary中文NVIDIA Isaac ROS cuMotion
cuMotionAdvancedNVIDIA's GPU-based ROS 2 motion-planning package for robot arms, built on cuRobo.
cuMotion is the robot-arm motion-planning package within NVIDIA's Isaac ROS, with its core algorithm coming from cuRobo (NVIDIA's GPU-parallel motion-planning library). It plugs into MoveIt 2 as a plugin, replacing or supplementing traditional sampling-based planners, optimizing large numbers of candidate trajectories in parallel on the GPU to produce smooth, obstacle-avoiding joint trajectories in a short amount of time. It can also avoid obstacles using the environment map built by nvblox, and it provides a way to segment the robot's own arm out of a depth image so the robot doesn't mistake itself for an obstacle.
ExampleSelect the cuMotion planner in MoveIt 2's RViz interface to have the arm plan a path around obstacles on the table to reach a grasp.
- Also called
- isaac_ros_cumotion
- Related
- cuRobo (NVIDIA GPU-accelerated motion planning) · MoveIt Motion Planning Framework · NVIDIA Isaac ROS · Motion Planning · Obstacle Avoidance · NVIDIA nvblox (GPU TSDF/ESDF Mapping)
- Sources
- Isaac ROS cuMotion 文档 (Chinese)
- As of
- 2026-09