Isaac Manipulator

Isaac Manipulator is a collection of GPU-accelerated packages for perception-driven manipulation, providing capabilities such as object detection, pose estimation, and time-optimal collision-free motion generation using cuMotion. These packages are distributed in individual repositories as part of Isaac ROS in order to maximize reuse and flexibility.

The Isaac Manipulator repository contains reference workflows that currently leverage the following Isaac packages:

• Isaac ROS cuMotion for optimal-time, collision-free trajectory generation.

• Isaac ROS nvblox for local 3D reconstruction and obstacle detection.

• Isaac ROS DNN Stereo Depth for learning-based stereo depth estimation.

Many deployments would also benefit from one or more of the following Isaac packages:

• Isaac ROS Object Detection for detecting objects using SyntheticaDETR trained models.

• Isaac ROS Pose Estimation for estimating the pose of objects using FoundationPose.

• Isaac ROS Nova for time-synchronized multi-camera data.

• Isaac ROS Image Pipeline for GPU-accelerated image processing.

Tutorials

• Tutorial for cuMotion with Perception

Repositories and Packages

Reference workflows for the Isaac ROS implementation of Isaac Manipulator may be found in the following repository:

• Isaac Manipulator