Vidur/menagerie robotiq 2f85#4658
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vidurv-nvidia wants to merge 11 commits intoisaac-sim:dev/newtonfrom
Draft
Vidur/menagerie robotiq 2f85#4658vidurv-nvidia wants to merge 11 commits intoisaac-sim:dev/newtonfrom
vidurv-nvidia wants to merge 11 commits intoisaac-sim:dev/newtonfrom
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- Fix gearing consistency: right_outer_knuckle_joint uses +1 gearing across mimic constraints, reset function, and comment table - Increase gripper drive damping from 1.0 to 5.0 (above critical damping) - Increase equality constraint solref timeconst from 0.005 to 0.02 - Increase effort_limit_sim from 10 to 40 and velocity_limit_sim from 1 to 10 - Filter IK loop to only set targets/velocities for arm joints, leaving gripper untouched during IK iterations - Zero joint velocities cleanly before gripper state write in reset Co-authored-by: Cursor <cursoragent@cursor.com>
…-robotiq-2f85 Co-authored-by: Cursor <cursoragent@cursor.com> # Conflicts: # source/isaaclab/isaaclab/cloner/cloner_utils.py # source/isaaclab/isaaclab/sim/_impl/newton_manager.py # source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation.py # source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation_data.py
existing tendon API (control.mujoco.ctrl for CTRL_DIRECT actuators) through the articulation layer into new action terms. Tendon support (isaaclab + isaaclab_newton): - Implement find_fixed_tendons() using ArticulationView.tendon_names - Add tendon property accessors/setters (stiffness, damping, range, etc.) - Add set_tendon_actuator_target() for writing to control.mujoco.ctrl - Discover tendon actuator ctrl indices from model.mujoco.actuator_trntype - Fix BroadPhaseMode import error in newton_manager.py New action terms (isaaclab): - TendonAction: continuous control of tendon actuators with scale/offset - BinaryTendonAction: binary open/close for tendon-driven grippers - TendonActionCfg and BinaryTendonActionCfg configuration classes GearAssembly env (2F-85 gripper): - Drive gripper via tendon actuator instead of joint position targets - Fix grasp offset direction for 180deg Y rotation grasp_rot_offset - Tune solver: elliptic cone, impratio=10 (matching Menagerie defaults) - Reduce SDF resolution 512->256, widen narrow band to +/-1cm
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there