Adds null-space control option within OperationSpaceController
#1557
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ozhanozen
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Dhoeller19,
Mayankm96,
jsmith-bdai,
jtigue-bdai,
kellyguo11 and
pascal-roth
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ozhanozen
changed the title
OperationSpaceController
kellyguo11
reviewed
Dec 18, 2024
Co-authored-by: Kelly Guo <[email protected]> Signed-off-by: Özhan Özen <[email protected]>
SevenFo
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May 19, 2025
…ac-sim#1557) # Description This PR adds an option to enable null-space control within `OperationSpaceController` (following the discussions in isaac-sim#913). ## Details Currently, `OperationSpaceController` controls only the task space, which results in joint movements within the null-space of redundant robotic manipulators. In general, it is desirable to have some control over the robot null-space, e.g., to prevent the joints from going near their limits. Hence, the PR adds the following: - An optional nullspace (position) control integrated into `OperationSpaceController`. This controller attracts the robot joints to provided targets whereas possible, in parallel to the task-space target. - Test cases for `OperationSpaceController` that use null-space control. - Updates to the related tutorial script and documentation to use and describe null-space control. - Integration of (optional) null-space control to `OperationSpaceControllerAction` with predefined joint targets, e.g., default joint positions, joint centers, zero joint position. - Integration of null-space control to `"Isaac-Reach-Franka-OSC-v0"` manager-based environment. Null-space control utilizes either the dynamically consistent Jacobian inverse or the Moore–Penrose inverse, depending on whether the full inertia matrix is available. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Özhan Özen <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
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Description
This PR adds an option to enable null-space control within
OperationSpaceController(following the discussions in #913).Details
Currently,
OperationSpaceControllercontrols only the task space, which results in joint movements within the null-space of redundant robotic manipulators. In general, it is desirable to have some control over the robot null-space, e.g., to prevent the joints from going near their limits. Hence, the PR adds the following:OperationSpaceController. This controller attracts the robot joints to provided targets whereas possible, in parallel to the task-space target.OperationSpaceControllerthat use null-space control.OperationSpaceControllerActionwith predefined joint targets, e.g., default joint positions, joint centers, zero joint position."Isaac-Reach-Franka-OSC-v0"manager-based environment.Null-space control utilizes either the dynamically consistent Jacobian inverse or the Moore–Penrose inverse, depending on whether the full inertia matrix is available.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there