I know that to make a robotic arm move to a specified position under the world coordinate system can be done with the “apply_action” function, is there a similar function that can move under the tool coordinate system? For example, how should I implement the motion along the direction of the coordinate system of the end of the robotic arm, x,y,z direction (0.02, 0.02, 0.02) respectively? Do I need to write my own function?
If you want to control a robot in Cartesian space, you need to perform inverse kinematics solving. You can refer to it Adding a New Manipulator — Omniverse IsaacSim latest documentation.
Use RMPflow to achieve the functionality you want,
But the official only provides RMPflow setting parameters for a few robots, so I still think it’s more convenient to write an IK by yourself.