Incomplete and Outdated documentation for Motion Control tutorials

[PRISHIta123]

Hello, I am facing several issues while following the Isaac Sim 5.1.0 documentation for Robot Simulation. I’ve summarized the problems below in case they help improve the tutorials or clarify missing steps.

1. Motion Generation Tutorials (Lula RMPFlow,RRT,Kinematics Solver,Trajectory Generator):

The tutorials provide ZIP archives containing example extensions, but they do not specify how to enable these extensions in Isaac Sim after extraction. The “Loaded Scenario Extension Template” also doesn’t explain the required launch arguments.

After trial and error, the following command was required to load the extensions correctly:

./isaac-sim.sh --ext-folder <path-to-parent-folder> --enable <extension-folder-name> --reset-user

It would help if this instruction was included directly after the ZIP downloads in each tutorial.

2. Configuring RMPFlow for a new Manipulator
   The documentation explains the YAML/URDF inputs but assumes the robot already exists in the Selection Panel asset list. For example, Cobotta 900 is not provided under the default Isaac Sim assets (unlike UR3, Franka, etc.). There are no instructions on how to import a new manipulator’s URDF so that it appears in the list. If the robot is deprecated or unsupported, it would be useful for the documentation to mention this.

3. Installing and using cuRobo and cuMotion
   The cuRobo docs reference Isaac Sim 4.0 and the cuMotion docs reference Isaac Sim 3.0, but both are linked under the Isaac Sim 5.1.0 documentation portal. This makes installation very difficult because the required CUDA, Docker, and NVIDIA Container Toolkit versions differ across those older instructions. Following the interlinked pages is confusing and I wasn’t able to get a consistent installation working. Updated installation steps for 5.x would be helpful.

4. Surface Gripper Extension:
   The example appears to require a gamepad axis (possibly from a controller). Keyboard input did not work for me. If a gamepad is required, it would be helpful to state this explicitly.

5. Grasp Editor
   I was unable to author a grasp because the rigid body (cup) was not being recognized by the physics engine, even after adding a collider preset. The simulation fails due to the object not being detected. Additional troubleshooting steps or clarification here would be valuable.

Overall, several sections of the documentation seem outdated or incomplete, which makes following the motion generation and manipulation workflows difficult.

Isaac Sim version: 5.1.0
OS: Ubuntu 22.04
GPU: RTX 5060
Driver + CUDA: 580.65.06, CUDA 11.5

[RandomOakForest]

Thank you for posting this and for the detailed descriptions. The team will review this.

[PRISHIta123]

Sure thanks.