grab2 documentation
Note
This is an experimental, work-in-progress repository!
grab2 brings together ROS 2, NVIDIA cuRobo, BehaviorTree.CPP and NVIDIA Isaac Sim; a practical setup for a typical manipulation pipeline from perception to motion planning and behavior orchestration.
Setup
Supported Robots
Robot |
Status |
|---|---|
Franka panda with 2-finger girpper |
Supported |
Universal Robot (UR5) with 2-finger gripper “robotiq_2f_140” |
Supported |
Universal Robot (UR10) with suction gripper |
Supported |
Tiago (Mobile manipulator) |
In progress |
Supported Motion Planners
Moveit2
NVIDIA cuRobo
Supported Simulators
NVIDIA Isaac Sim >= 4.5 (any simulator that supports ROS2 topic based control)
Gazebo