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

Merged

lgulich merged 18 commits into

NVIDIA-ISAAC-ROS:impedence-control-supportfrom

eraimondi-jpg:eraimondi/sim-gantry

Apr 23, 2026

Merged

feat: add VirtualGantryPlugin — rope-constraint gantry for humanoid simulation#3
lgulich merged 18 commits into
NVIDIA-ISAAC-ROS:impedence-control-supportfrom
eraimondi-jpg:eraimondi/sim-gantry

Commits on Apr 20, 2026
- Add VirtualGantryPlugin for humanoid simulation stability
  
  eraimondi-jpg
  and
  claude
  committed
  6c548ca
- Fix VirtualGantryPlugin: propagate xfrc_applied to physics thread and stabilize PD gains
  
  eraimondi-jpg
  and
  claude
  committed
  4953676
Commits on Apr 21, 2026
- Add GantryKeyboardState singleton for cross-thread key/scroll signalling
  eraimondi-jpg
  committed
  0c50532
- Rewrite VirtualGantryPlugin with rope-constraint physics
  eraimondi-jpg
  committed
  5bfe681
- Handle G key and Shift+scroll in ROS2ControlGlfwAdapter
  eraimondi-jpg
  committed
  ad194fe
- Fix std::array brace initialization for C++17 compatibility
  eraimondi-jpg
  committed
  b1cef71
- Fix GantryKeyboardState singleton isolation and anchor world-frame Z
  
  eraimondi-jpg
  and
  claude
  committed
  eeac080
- Set default anchor_z_world to 1.5 m
  
  eraimondi-jpg
  and
  claude
  committed
  eb18a75
- Replace Shift+scroll with '['/']' keys for rope length adjustment
  
  eraimondi-jpg
  and
  claude
  committed
  0adb3ea
- Link mujoco_ros2_control against mujoco_ros2_control_plugins
  
  eraimondi-jpg
  and
  claude
  committed
  0cbd7b1
- Move GantryKeyboardState::get() to main library to fix pluginlib factory registration
  
  eraimondi-jpg
  and
  claude
  committed
  df36f8f
Commits on Apr 22, 2026
- Promote libmujoco_ros2_control.so to RTLD_GLOBAL before loading plugins
  
  eraimondi-jpg
  and
  claude
  committed
  c2d8318
- fix(format): apply clang-format to gantry and impedance control sections
  
  eraimondi-jpg
  and
  claude
  committed
  3f69a11
- fix(format): apply clang-format v19.1.1 to gantry plugin and interface
  
  eraimondi-jpg
  and
  claude
  committed
  2f7b7fa
Commits on Apr 23, 2026

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

feat: add VirtualGantryPlugin — rope-constraint gantry for humanoid simulation#3
lgulich merged 18 commits into
NVIDIA-ISAAC-ROS:impedence-control-supportfrom
eraimondi-jpg:eraimondi/sim-gantry

Commits on Apr 20, 2026

Add VirtualGantryPlugin for humanoid simulation stability

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

Commits on Apr 21, 2026

Add GantryKeyboardState singleton for cross-thread key/scroll signalling

Rewrite VirtualGantryPlugin with rope-constraint physics

Handle G key and Shift+scroll in ROS2ControlGlfwAdapter

Fix std::array brace initialization for C++17 compatibility

Fix GantryKeyboardState singleton isolation and anchor world-frame Z

Set default anchor_z_world to 1.5 m

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

Link mujoco_ros2_control against mujoco_ros2_control_plugins

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

Commits on Apr 22, 2026

Promote libmujoco_ros2_control.so to RTLD_GLOBAL before loading plugins

fix(format): apply clang-format to gantry and impedance control sections

fix(format): apply clang-format v19.1.1 to gantry plugin and interface

Commits on Apr 23, 2026

fix: address review comments — rope step docs, stale Shift+scroll ref, cleanup UAF

refactor(plugins): dispatch GLFW key events via plugin virtual instead of shared singleton

fix(plugins): on_key returns bool to prevent consumed keys reaching MuJoCo viewer

refactor(gantry): replace SetGantryEnabled custom srv with std_srvs/SetBool