Any Progress in Isaac?

[jnskkmhr]

Hi, I wanted to ask if there is any progress in Isaac integration.
I am really interested in how you integrated QP torque controller in Isaac.
For example, I am curious about

• any extra effort necessary for torque control aside from zero joint dumping/stiffness?
• what is the control architecture like in Isaac? (I assume you call controller directly inside isaac physics loop)

[arjun-2612]

I too would like to see this. Any updates?

[jnskkmhr]

I recently published one paper using MPC in Isaac (under review though).
https://github.com/rl-augmented-mpc/HECTOR_HW
https://github.com/rl-augmented-mpc/IsaacLab4.5/tree/devel/scripts/biped