Manipulation IK

Purpose

Control manipulator arms with differential IK, schema-native poser workflows, grasp frames, fixed-joint grasping, and hybrid IK plus joint-space motion.

Prerequisites

• For the verified robot-motion library route: a completed source/libraries build or matching installed distributions.
• For RobotPoser, live articulation, grasp/contact, or interactive work: built Isaac Sim and the shell environment from isaac-sim-orchestrator.

Limitations

• Targets Isaac Sim 6 / Kit 110 unless a section states otherwise.
• Does not replace official NVIDIA documentation for unsupported edge cases.

Troubleshooting