# Smart Pick-and-Place on OMY with GraspNet and Gemini

**URL:** <https://discourse.openrobotics.org/t/smart-pick-and-place-on-omy-with-graspnet-and-gemini/57718>\
**Category:** Projects\
**Created:** [August 28, 2026, 1:05pm UTC](https://discourse.openrobotics.org/t/smart-pick-and-place-on-omy-with-graspnet-and-gemini/57718 "2026-08-28T13:05:03Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Pyo](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/pyo/32/15617_2.png) [@Pyo](https://discourse.openrobotics.org/u/Pyo)\
**Post date:** [August 28, 2026, 1:05pm UTC](https://discourse.openrobotics.org/t/smart-pick-and-place-on-omy-with-graspnet-and-gemini/57718/1 "2026-08-28T13:05:03Z")

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[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/6/c/6c8b5915d47bc5b25018f29e28a17c2b096edc05.jpeg "AI MANIPULATOR #14: Smart Pick-and-Place on OMY with GraspNet and Gemini") ](https://www.youtube.com/watch?v=OxMBVGkFJHM)

An end-to-end smart pick-and-place pipeline built on the OMY robotic arm, integrating Gemini and GraspNet.

Here is how the pipeline works:

1. Scene Reasoning: Gemini interprets natural language instructions and identifies target objects from camera inputs.
2. Grasp Generation: GraspNet processes 3D point cloud data to generate stable 6-DoF grasp candidates.
3. Motion Execution: Cyclo Control, our QP-based motion controller, plans collision-free trajectories and executes inverse kinematics in real time.

By combining VLM reasoning, data-driven grasp pose synthesis, and constrained motion control in ROS 2, OMY reliably picks arbitrary objects even in unstructured setups.

Check out the full workflow, demo video, and open-source code below.

🎬 Video: [https://youtu.be/OxMBVGkFJHM](https://youtu.be/OxMBVGkFJHM)

🤖 Code:  
• [GitHub - ROBOTIS-GIT/cyclo\_control: Control packages for the ROBOTIS Physical AI lineup · GitHub](https://github.com/ROBOTIS-GIT/cyclo_control)  
• [GitHub - ROBOTIS-GIT/open\_manipulator: AI Manipulator and Open Manipulator · GitHub](https://github.com/ROBOTIS-GIT/open_manipulator)

📝 Docs: [Pick-and-Place on OMY with GraspNet and Gemini | ROBOTIS Docs](https://docs.robotis.com/docs/systems/omy/resources/technical_story/graspnet_pick_and_place/)