Franka Pick and Place Example#

Overview#

The Franka pick-and-place example demonstrates a simple, linear action sequence for robotic manipulation. This example shows how to send and retrieve actions, sequence them together, and can serve as a guide for implementing different action sequences.

Learning Objectives#

This example demonstrates how to:

  • Set up a Franka robot with gripper in Isaac Sim

  • Implement a linear pick and place sequence

  • Control robot movements and gripper actions

  • Sequence multiple actions together in a simple workflow

  • Use the example as a foundation for more complex manipulation tasks

Code Structure#

The Franka pick-and-place example follows a simple, direct code structure:

# Interactive Example
isaacsim.examples.interactive/franka_pick_place_interactive.py
↓
isaacsim.robot.manipulators.examples/franka/pick_place.py (single script)

# Standalone Example
isaacsim.standalone_examples/franka_pick_place.py
↓
isaacsim.robot.manipulators.examples/franka/pick_place.py (single script)

How to Run the Examples#

Interactive Example#

  1. Open Isaac Sim

  2. Go to Window > Examples > Robotics Examples

  3. Navigate to Manipulation > Franka Pick Place

  4. Click LOAD to open the scene

  5. Use the following controls:

    • START PICK PLACE: Start the pick and place sequence

    • RESET: Reset the world to initial state

Standalone Example#

To run the standalone example from the command line:

./python.sh standalone_examples/api/isaacsim.robot.manipulators/franka/pick_place.py

.\python.bat standalone_examples\api\isaacsim.robot.manipulators\franka\pick_place.py

What the Example Does#

The Franka pick and place example demonstrates:

  1. Robot Setup: Initializes a Franka robot with gripper

  2. Scene Creation: Sets up a cube to be picked up and a target location

  3. Pick Sequence:

    • Moves to pre-grasp position

    • Opens gripper

    • Moves to grasp position

    • Closes gripper

  4. Place Sequence:

    • Moves to pre-place position

    • Moves to place position

    • Opens gripper to release object

    • Moves slightly upward along the Z-axis

This linear sequence shows the fundamental building blocks of robotic manipulation tasks.

Next Steps and Further Reading#

This example demonstrates a very simplistic approach to task execution. For more sophisticated operations, consider exploring:

  • Cortex: Isaac Sim’s task orchestrator for complex, multi-step robotic operations

  • State Machines: Implement more complex task logic

  • Task Planning: Use advanced planning algorithms for complex manipulation sequences

  • Task and Motion Planning: Advanced algorithms for complex manipulation scenarios

Related Documentation:

The current example serves as an excellent starting point for understanding the basics of robotic manipulation in Isaac Sim before moving to more complex implementations.