Tutorial for Pick and Place using cuMotion with Perception

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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I want to pick and place my own object with a industrial robot. I found the tutorial in Tutorial for Pick and Place using cuMotion with Perception — isaac_ros_docs documentation. How can I replace the Universal Robots manipulator (UR5e or UR10e) and the Robotiq two-finger gripper (2F-85 or 2F-140) with a industrial robot.

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Hello @2287278570,

Thanks for posting in the Isaac ROS forum and trying out our packages!

For your industrial robot + gripper, you’ll first want to verify that you have the following pieces and can bring up your robot stack standalone in ROS 2 (on the same ROS 2 distro as Isaac Manipulator) before moving on to the pick-and-place packages:

  • A ROS 2 driver that:

    • Publishes /joint_states

    • Exposes a trajectory controller, typically via ros2_control and FollowJointTrajectory (for example, a joint_trajectory_controller or equivalent)

  • A URDF (and ideally SRDF / MoveIt 2 config) for:

    • The arm (all joints and links)

    • The gripper (or at least a TCP frame and any actuated fingers)

  • A way to open/close the gripper from ROS 2:

    • Either as ros2_control hardware (a gripper joint with a position command), or

    • A ROS topic/service/action you can adapt (for example, a GripperCommand action)

If you don’t already have all three, you’ll need to obtain them from your robot vendor first. Without them, you won’t be able to reuse the Isaac Manipulator pick-and-place workflow as-is.

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Any updates on this?
If the issue is resolved, we’ll close the topic. Let us know if you still need help!