How to control the movement and speed of Franka's end effector

[Rey19]

I want to control the movement of Franka’s end effector to a specific position with a specific speed in Isaac Sim. How can I achieve this? I have not found a corresponding Dynamic Control API. Any help would be appreciated.

[bpeele]

There are no controllers built in to IsaacSim that directly enable generating motions with constant task-space (e.g., end effector) velocities.

Currently, to achieve this, you would need to design your own motion. You can apply joint positions and velocities directly using the Articulations interface: Core [omni.isaac.core] — isaac_sim mr3140 documentation

The high-level motion generators we do provide are RMPflow for reactive motion control and the “Lula Trajectory Generator” that includes things like defining straight lines in task space (but not at constant velocity).

RMPflow tutorial: 8. Lula RMPflow — Omniverse Robotics documentation

Trajectory generation tutorial: 11. Lula Trajectory Generator — Omniverse Robotics documentation