Using Controller from UR driver in isaac sim

Omniverse Isaac Sim
,
1

Hi everyone,

I’m using UR5e and Isaac Sim 4.2.0, and as far as I know, controllers for native isaac Sim are cartesian. I’m trying to use a joint space based controllers instead. I heard that using joint space based controllers is much more safer when trasnfering sim to real. Here’s the thing. I am trying to use controllers that are used when controlling UR5e with external control. Such as joint_trajectory_controllers.

  1. Can I solve my problem referring to isaac sim documentation → adding a controller?
  2. If not, is there a way to use it? I am trying to use it with ROS2 and action graph. Will it be the right way?

Thank you for your replies.