Grab2 Behavior Demos

This repository provides manipulation demos

• Using BehaviorTree.CPP, Moveit2, Nvidia cuRobo, and ROS2 with Nvidia Isaac sim.
• You can use this package with any simulator that supports topic based ROS2 control.
• Docker containers are available as well.

Available demos:

• Isaac Sim: Check Start Isaac Sim world
• No Isaac Sim: Run mock hardware demo

See the sections below for detailed instructions on each option.

Project Overview

This project demonstrates robot manipulation using a modular tech stack:

• BehaviorTree.CPP v4.6 for task-level logic and decision making
• Nvidia CuRobo for fast, efficient, real-time trajectory planning
• ROS2 with ros2_control and joint_trajectory_controller for motion execution

The behavior tree manages the decision-making flow, Nvidia CuRobo handles motion planning, and ROS2 ros2_control executes the robot's motion.

Demo Scenarios

• Simple Room: Franka robot, a bin, and three cubes on a table
• Toybox: Panda robot with car toys scattered on the ground

Available Behavior Demos

• collect_cubes
• collect_toys
• lookaround_demo
• target_ik_demo

For more information, see grab2_behavior_tree/behavior_trees.

Available Planners

• Moveit2
• Nvidia CuRobo
• Did you write one? Send a pull request to add it to this list.

Available BehaviorTree Plugins

• See grab2_behavior_tree/plugins.
• Did you write one? Send a pull request to add it to this list.

Requirements

• NVIDIA GPU with driver version 550+ is required for simulation and demo containers.
• Docker and Docker Compose must be installed.
• Ensure NVIDIA Container Toolkit is set up for GPU access in containers.

Running Demos with Docker Compose

This project uses Docker Compose to manage simulation and demo containers defined in docker-compose.yml.

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1. Build the Containers

Build all required images:

docker compose build

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2. Start the Isaac Sim Simulation World

You can start the Isaac Sim simulation world in two ways:

• Using Docker Compose: Launch the simulation environment in a container with:

  docker compose up isaac-simple-room

  or/ for the toybox world:

  docker compose up isaac-toybox

• Using a Local Isaac Sim Installation (version 4.5): If you have Isaac Sim installed locally, you can run the simulation script directly:

  cd isaac_sim_worlds
  ./isaac_py.sh panda_bin_cubes.py

  or/ for the toybox world:

  cd isaac_sim_worlds
  ./isaac_py.sh panda_toybox.py

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3. Start the Behavior Demo

In a separate terminal, start the behavior demo container:

• Simple Room Demo (with Isaac Sim):

  docker compose up simple-room-demo

• Toybox Demo:

  docker compose up toybox-demo

• Simple Room Demo (no Isaac Sim, mock hardware): (No Isaac Sim required; can be run standalone, without objects to grab)

  docker compose up simple-room-demo-no-isaac

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4. Stopping the Demos

To stop all running containers, press Ctrl+C in the terminal or run:

docker compose down