Core library for keyboard-driven manipulator control in Isaac Sim using RMPflow.
- FrankaKeyboardController: Combines RMPflow end-effector tracking, direct wrist joint overrides, and parallel gripper toggle
- Collision-aware safety: Monitors joint efforts and velocities to detect and revert blocked states
- ManipulatorKeyboardDriver: Reusable keyboard input layer with configurable key bindings
- TargetVisualizer: Optional visual marker showing the current EE target position
| Key | Action |
|---|---|
| W/S | Move EE forward/backward |
| A/D | Move EE left/right |
| Z/X | Rotate wrist joint 7 |
| C/V | Twist forearm joint 6 |
| K | Toggle gripper open/close |
This extension is a library — it provides no GUI on its own. Use worvai.gui.manipulators for the control panel, or import directly in scripts:
from worvai.control.manipulators import FrankaKeyboardController, FrankaControlConfig
controller = FrankaKeyboardController("/World/Franka")
controller.initialize()
# Call controller.step() each physics frame