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abr / abr_control Public

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Fork 108
Star 521

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Issues 6
Pull requests 3
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Isaacsim#119

Open

LeaStef wants to merge 42 commits intoabr:mainabr/abr_control:mainfrom

LeaStef:isaacsimLeaStef/abr_control:isaacsimCopy head branch name to clipboard

Conversation Commits42 (42)Checks Files changed

Open

Isaacsim#119
LeaStef wants to merge 42 commits intoabr:mainfrom
LeaStef:isaacsim

Commits

Commits on Aug 21, 2025

added basic interface for isaacsim
LeaStef
committed
create world with dt
LeaStef
committed
implemented method connect in interface for isaacsim
LeaStef
committed
implemented method get_feedback to provide joint angles and joint angles vel as dictionary
LeaStef
committed
implemented sned_target_angles
LeaStef
committed
add method to provide pose
LeaStef
committed
example script to make arm follow cube
LeaStef
committed
added methods getOreintation() and set_xyz to isaac interface
LeaStef
committed
switched urdf import to xml import
LeaStef
committed
interface adapted to h1, locked robote pelvis orientation so it does not fall
LeaStef
committed
fixed getfeedback to work only for arm DOFs
LeaStef
committed
added config file for H1
LeaStef
committed
added matrix for segment lengths of arm
LeaStef
committed
added articulation view
LeaStef
committed
working example with floating robot
LeaStef
committed
implementation method quaternion, Tx, R
LeaStef
committed
floating control now works for ur5 and jaco2
LeaStef
committed
adapted tu num of controlled DOF
LeaStef
committed
generalized send u
LeaStef
committed
new implementation of the method connect, following the structure of mujoco interface
LeaStef
committed
Create a visual-only cube (no collision)
LeaStef
committed
fixed gains of arm joints, which were to stiff for force control
LeaStef
committed
fixed def M
LeaStef
committed
Example with force_osc working
LeaStef
committed
added example linear path gaussian velocity
LeaStef
committed
adaptations for no EE
LeaStef
committed
force control working for UR5 and jaco2
LeaStef
committed
adapted mass matrix to extract the correct, controlled joints
LeaStef
committed
added torso joint and used standing method in setup for h1
LeaStef
committed
integrated robot H1 with hands
LeaStef
committed
fixed method set_gains_force_control so it adresses the right joints
LeaStef
committed
adapted method send_forces to work with abritary list of joint indices
LeaStef
committed
fixed helper methods for arbitrary indices
LeaStef
committed
removed coriolis forces from function for gravity compensation
LeaStef
committed
fixed indexing of jacobian due to non-fixed base
LeaStef
committed
fixed method M
LeaStef
committed
force control OSC working for H1 without gravity
LeaStef
committed
fixed offset for virtual EE
LeaStef
committed
fixed calc of body_link in J() and removed obsolete h1 setup
LeaStef
committed
works with gravity now on all 4 robots (weird fix for h1)
LeaStef
committed
example force_osc_xyz_linear_path_gaussian_velocity works with ur5 and jaco2
LeaStef
committed
added documentation
LeaStef
committed

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