I am trying to control a physical robot (ABB YuMi IRB14000) following the ISAAC CORTEX tutorial in ROS Synchronization. I have created example_cortex_sync_sim_main.py and example_cortex_sync_belief_main.py with YuMi instead of Franka robot.Then created a successful communication between two separate machines (one running a sim world and other running the belief world) as explained in in Simple simulated demo.
In order to control a physical Franka robot, it requires libfranka, franka_ros package and cortex_control_franka package (given in ros_workspace). Is there any instructions on how to physically control a different robot like YuMi using Isaac Cortex (what are the requirements)? and are the ROS packages available for cortex control of ABB YuMi similar to ‘…/ros_workspace/src/cortex_control_franka’?