Contents Menu Expand Light mode Dark mode Auto light/dark, in light mode Auto light/dark, in dark mode Skip to content
GTA-2 documentation
Logo

Start here

  • What GTA does
  • Install GTA
  • Your first image-only task

Using GTA

  • Read the dashboard
  • Refine a plan
  • Vision feedback and requery
  • Save and reuse tasks
  • Review and execute a script

Concepts

  • Pipeline architecture
  • Controllers and priorities
  • Keypoints and coordinate frames
  • Runtime evaluation and attachment

Hardware setup

  • Hardware prerequisites and readiness
  • Set up the ROS 2 environment
  • Connect camera and point-cloud inputs
  • Connect the UR5e and gripper
  • Configure TCP, tool geometry, and calibration
  • ROS 1 differences

Extend GTA

  • Add a controller
  • Add a robot
  • Add a camera
  • Add a gripper

Reference

  • Configuration
  • Controllers and geometric helpers
  • Device interfaces
  • ROS command contract
  • Artifacts and storage

Troubleshooting

  • Installation and model access
  • Camera and grounding
  • Execution and cleanup

Development

  • Offline tests
  • Build and maintain the documentation
  • Glossary
Back to top
Copyright © 2026, GTA-2 contributors
Made with Furo