YZhang001

[Question] Opacity of Spawned Entities

1

Hello, I was following the tutorial on Orbit about the differential IK controller ([Link](https://isaac-orbit.github.io/orbit/source/tutorials/05_controllers/run_diff_ik.html)) For my application I need to visualize several non-physical entities in the scene, such as spheres...

[Question] Control joint velocity of Franka Panda arm with robot.set_joint_velocity_target()

3

### Question Hello, I was following the tutorial on Orbit about the differential IK controller ([Link](https://isaac-orbit.github.io/orbit/source/tutorials/05_controllers/run_diff_ik.html)). It uses the joint position control command `robot.set_joint_position_target(joint_pos_des, joint_ids=robot_entity_cfg.joint_ids)` to set joint position target...

[Question] Jacobians from simulation robot.root_physx_view.get_jacobians() differs from roboticstoolbox

2

### Question Hello. I was simulating a Franka robot arm in Isaac Sim 2023.1.1. I was also using the [roboticstoolbox](https://github.com/petercorke/robotics-toolbox-python) package to calculate the Jacobian for each link of the...

[Proposal] About including the Franka FR3 model in Orbit

1

### Proposal Hello, could you please include the [Franka FR3 robot](https://frankaemika.github.io/docs/control_parameters.html#robot-and-interface-specifications) in orbit robot models? I read from the Isaac Sim 2023.1.1 release notes that it is now added. I'm...