feat: add VirtualGantryPlugin — rope-constraint gantry for humanoid simulation#3

Merged

lgulich merged 18 commits intoNVIDIA-ISAAC-ROS:impedence-control-supportfrom

eraimondi-jpg:eraimondi/sim-gantry

Apr 23, 2026

Commits on Apr 20, 2026

Add VirtualGantryPlugin for humanoid simulation stability

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Fix VirtualGantryPlugin: propagate xfrc_applied to physics thread and stabilize PD gains

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Commits on Apr 21, 2026

Add GantryKeyboardState singleton for cross-thread key/scroll signalling
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Rewrite VirtualGantryPlugin with rope-constraint physics
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Handle G key and Shift+scroll in ROS2ControlGlfwAdapter
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Fix std::array brace initialization for C++17 compatibility
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Fix GantryKeyboardState singleton isolation and anchor world-frame Z

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Set default anchor_z_world to 1.5 m

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Replace Shift+scroll with '['/']' keys for rope length adjustment

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Link mujoco_ros2_control against mujoco_ros2_control_plugins

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Move GantryKeyboardState::get() to main library to fix pluginlib factory registration

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Commits on Apr 22, 2026