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cable-simulation

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harshitjain-robo / isaac-franka-grasp-lift

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Franka lifts a hanging cable in Isaac Sim 5.1: D6 capsule chain, Lula IK and RMPflow, weld and friction grips, ROS 2 publishing, every claim measured.

python robotics inverse-kinematics physics-simulation grasping ros2 physx robotic-manipulation robot-simulation franka-emika franka-panda deformable-objects motion-generation isaac-sim omniverse openusd nvidia-isaac-sim rmpflow cable-simulation contact-sensing
  • Updated Sep 12, 2026
  • Python

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