Manipulation IK

Patterns reference Isaac Sim docs and local example files; embedded code is a pattern sketch, not the canonical source. Always read the linked example; upstream code reflects the installed Isaac Sim version.

When to use

• Control an articulated arm to reach, grasp, transport, place.
• Set up IK-based end-effector control (vs joint-space).
• Store reusable robot poses as named poses and apply them later.
• Set up grasping (FixedJoint, SurfaceGripper, contact-based).
• Validate manipulation success with a feedback loop.

Pick the right IK stack