Franka Pick and Place Example

Tutorial

Overview

The Franka pick-and-place example uses RMPflow and measured robot state to move a cube between two locations. Its feedback-driven controller advances through approach, grasp, lift, place, release, and retreat phases.

Learning Objectives

This example demonstrates how to:

• Set up a Franka robot and gripper in Isaac Sim.

• Generate collision-aware arm motion with RMPflow.

• Coordinate arm motion and gripper commands with measured completion conditions.

• Detect controller failures and phase timeouts.

Code Structure

The interactive and standalone examples share the robot-independent pick-and-place controller:

# Interactive Example
isaacsim.robot_motion.examples/manipulation/interactive/pick_place/pick_place_example.py
↓
isaacsim.robot_motion.examples/manipulation/pick_place_task.py
↓
isaacsim.robot_motion.examples/manipulation/controllers/pick_place.py

# Standalone Example
standalone_examples/api/isaacsim.robot_motion.examples/manipulation/pick_place.py
↓
isaacsim.robot_motion.examples/manipulation/controllers/pick_place.py

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:

Linux

./python.sh standalone_examples/api/isaacsim.robot_motion.examples/manipulation/pick_place.py --robot franka

Windows

.\python.bat standalone_examples\api\isaacsim.robot_motion.examples\manipulation\pick_place.py --robot franka

Use --usd-path to override the robot asset. Provide --robot-config-dir to use a matching custom cuMotion configuration. The --urdf and --xrdf filenames default to robot.urdf and robot.xrdf. See the cuMotion Robot Configuration Tutorial to create these files.

What the Example Does

The Franka pick-and-place example demonstrates:

1. Robot setup: Initializes a Franka robot and gripper.

2. Scene creation: Adds a cube and place target.

3. Pick sequence:

   • Moves above the cube.

   • Opens the gripper and descends to the grasp position.

   • Closes the gripper and verifies completion.

   • Lifts the cube.

4. Place sequence:

   • Moves above the target and descends.

   • Opens the gripper and verifies completion.

   • Retreats from the placed cube.

Each motion phase advances only after the measured tool pose remains within tolerance.

Next Steps and Further Reading

For more sophisticated task execution, explore:

• State Machines and/or Behavior Trees: Implement the higher-level task logic, leaving lower-level details to dedicated controllers

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

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

Related Documentation:

• State Machines for Robot Behavior - Reactive manipulation examples using state machines and behavior trees

• RMPflow - Motion generation with RMPFlow

Use this example as a starting point for feedback-driven manipulation workflows in Isaac Sim.

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