GTA-2 documentation

GTA-2 · Grounded Task Axes

This documentation covers GTA-2 installation and configuration, planning and refinement workflows, hardware setup, and controller and device interfaces.

Your first task

Use the cube scene to generate, refine, and inspect a plan. No robot required.

Your first image-only task

Connect your workcell

Check ROS, camera geometry, robot state, and gripper readiness before motion.

Hardware prerequisites and readiness

Extend GTA

Build a small controller, then explore robot, camera, and gripper adapters.

Add a controller

Reuse a task

Save an approved plan, load a working copy, and ground it in a new scene.

Save and reuse tasks

Task decomposition, controller selection, parameterization, visual grounding, script generation, and robot execution.

Select any diagram or screenshot to open the full-size asset.

Choose your starting point

New to GTA? Read what GTA does, complete installation, and follow the image-only tutorial.

Already running a robot? Start with the hardware checklist. The reference workcell uses ROS 2 Humble, UR5e, Robotiq, and ZED; other devices need compatible interfaces or an adapter.

Looking up a detail? Use the configuration reference, controller catalog, or glossary.

For robot operation, follow the execution guide.