An open-source research for Kinova Gen3 manipulator control in Isaac Lab environment.
This project is not affiliated with or endorsed by NVIDIA Corporation, Kinova Inc., or any of their subsidiaries. All referenced trademarks and product names remain the property of their respective owners.
Educational Use Only
This repository contains material intended for educational and research purposes only. Users assume full responsibility for:
- Compliance with Kinova Gen3 hardware operational guidelines
- Adherence to Isaac Lab's End User License Agreement (EULA)
- Any modifications to physical hardware systems
No Warranty
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND. THE AUTHOR SHALL NOT BE HELD LIABLE FOR ANY DAMAGES ARISING FROM THE USE OF THIS REPOSITORY.
Hardware Safety Notice
Always maintain emergency stop access when operating physical robotic systems. Verify all control commands in simulation before hardware deployment.
- Gen3 Differential Inverse Kinematics Control
basic_control/BasicScene_Gen3_Control.py- Cartesian space end-effector control
- Damped Least Squares (DLS) solver
- Multi-environment simulation support
- Robotiq 2F-85 Gripper Integration
- Contact-rich manipulation scenarios
- Tactile data collection framework
- Reinforcement Learning pipeline
- Sim2Real transfer modules
- Multi-modal perception system
| Resource | Description |
|---|---|
| Isaac Lab Docs | Official simulation platform documentation |
| Kortex API | Kinova official ROS interface |
| Compliant Control | Force-sensitive manipulation implementations |
| Manipulation Experiments | Advanced control strategies |